Design of Pneumatical Rubik’s Cube Solver

Abstract

Rubik’s solver is prime example of science popularizing mechatronic device, combining computer vision techniques, advanced Rubik’s cube solving algorithm and control of industrial pneumatic components. First version of solver constructed by our department was equipped only by 2 lower grippers, resulting in approximately four minutes for single cube solution. Proposed paper describes not only experience gained by development of upgraded 4 gripper version but includes statistical analysis of Thistlethwait’s 45 algorithm required for solving process optimization. Mechanical design, electronics, system overview, performance and limitations of upgraded 4 gripper version are explained in detail as well. Development of vision algorithm for robust cube detection is described in conjoint paper “Robust detection of Rubik’s cube state using Hough transform and advanced clustering functions.”