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Topic: Rubik's cube Robot solver (Read 66836 times) previous topic - next topic

kas

#30
Dec 31, 2014, 08:28 am Last Edit: Dec 31, 2014, 08:33 am by kas
@arduino5
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When i get my servo's i will test it out
Make sure that the rotation (wrist) servo can perform at least a full 180° move
Some servo's just can't  ::)

For this project I used 5mm (.2") plywood and 3mm (1/8") screws
How will you cut the parts ??



dd5665

Hey kas!

Thanx for the layout! Its amazing! I havn't worked with servos before although I know the principles and theory related to it, I am really confused how you interfaced 4 servos (2 for each gripper) to the arduino. Which motor driver are you using? Is it a custom made driver or ready-made one? I am really confused!!!

kas

#32
Jan 03, 2015, 03:22 pm Last Edit: Jan 03, 2015, 04:09 pm by kas
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I havn't worked with servos before although I know the principles and theory related to it
Great  8)  8)  8)

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Which motor driver are you using? Is it a custom made driver or ready-made one? I am really confused!!!
:smiley-eek:  :smiley-eek:  :smiley-eek:
dd5665, I suggest you get really familiar with servo motors before tackling this project
No need for motor drivers, just one digital output (PWM) per Servo

Look for the sweep.ino sketch in the Aduino IDE Example
You may also look here and here


Happy New Year to you and all the Community




dd5665

:-)

Thanx kas!! I interfaced 2 servos today. It was a silly question indeed! :-P

I went to fabricate the grippers on plyboard today. Since I stay in a pretty backward area :-( ... there is only one place which has a CNC router. They told me that they can only fabricate the pieces on metal sheet or Acrilic sheet. Plus, they are charging Rs . 15000 per gripper for metal sheet and Rs. 4000 per gripper for acrillic sheet!!!!

Both of these options is way beyond my budget.

With no options to cut these parts without a CNC router...I purchased some cardboard and tried cutting the pieces manuallly by hand...
I'll let you know if it works. :-((

kas

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I purchased some cardboard and tried cutting the pieces manuallly by hand...
I guess it won't be an easy task   ::)
Let us know


arduino5

Cool. I tested the card-board version. Its awesome. Now i will make it from plywood when i get the time.

I do have one more request, the length of the bolts and screws, cause i have no idea which to purchase :o?

kas

#36
Jan 05, 2015, 12:55 pm Last Edit: Jan 05, 2015, 12:55 pm by kas
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I tested the card-board version. Its awesome
Please let us have a photo of this card-board version


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I do have one more request, the length of the bolts and screws,
I will prepare a list for the additional, non wooden, parts


arduino5

#37
Jan 05, 2015, 06:20 pm Last Edit: Jan 05, 2015, 06:22 pm by arduino5


Just sandwiched the layers without servo. (Its fully working, except it cannot grip anything ofcourse. Just testing the mechanics. Its very well build i must mention (your design!))

I guess if you had this cut from Acrylic or maybe wood even, you could sell it as a low-budget kit.
Like, most grippers are way overpriced. This is a very good solution. Now i just need to find a good sheet. But i may make the wood version instead. Acrylic tends to be more expensive.

arduino5

#38
Jan 05, 2015, 09:37 pm Last Edit: Jan 05, 2015, 09:39 pm by arduino5
I went to fabricate the grippers on plyboard today. Since I stay in a pretty backward area :-( ... there is only one place which has a CNC router. They told me that they can only fabricate the pieces on metal sheet or Acrilic sheet. Plus, they are charging Rs . 15000 per gripper for metal sheet and Rs. 4000 per gripper for acrillic sheet!!!!

Both of these options is way beyond my budget.

With no options to cut these parts without a CNC router...I purchased some cardboard and tried cutting the pieces manuallly by hand...
I'll let you know if it works. :-((
Cardboard: Use exacto knive + Patience. For holes: Cut a cross, then use a screwdriver the size of the hole, and force it through the cross-cut. This will open it up as if it was drilled. = Very easy todo.

Plywood: Use a figure-saw + drill holls. I plan todo that.

Acrylic. Sounds like it has to be lasercut. I wouldnt know how to cut shapes manualy? Streight pieces, sure, but all those corners and teeth? So for solid material maybe your best bet is with wood, like Kas has done.

kas

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Just sandwiched the layers without servo. (Its fully working, except it cannot grip anything ofcourse. Just testing the mechanics
Impressive  :o  :o
Care to show the gear parts ??

kas

#40
Jan 07, 2015, 06:03 pm Last Edit: Jan 07, 2015, 06:04 pm by kas
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Your Robot solver is very nice
Thanks  ;)


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I am doing same project and i really wonder how to connect Arduino to Cube Explorer .
Please detail me about this
As mentioned I use a middleware to connect Arduino to Cube Explorer

This Python script does the following tasks:
  1) Launch Cube Explorer
  2) ask Arduino to move the cube, face by face, for color recognition by Cube Explorer
  3) request and obtain the solution from Cube Explorer
  4) transfer this solution to Arduino

Points 2) and 3), please refer to response #24 for technical details
The code is still in the debugging stage

For point 4) see response #21
This code is 100% working




kas

Part list for 5mm thickness material (plywood, acrylic, cardboard)



 - M3 screws 10, 16, 20 and 24mm
 - 3mm washers
 - M3 nuts
 - M3 Nylock nuts
 - 14mm brass standoff spacers


For Imperial people, just use 1/8" hardware



dd5665

Hey kas! Any updates on the python code?

kas

#43
Jan 28, 2015, 10:30 am Last Edit: Jun 01, 2017, 07:20 am by kas
Before building the robot solver, make sure you use the test bench as described in reply #6, together with the test code

Code: [Select]

#define    CLOSE                85                  // servo's limits
#define    OPEN                132
#define    CW                    0
#define    MID                  87
#define    CCW                 171


You need to carefully adjust those servo's limits to obtain clean moves as per attached video
Gripper should close tight enough to turn the cube and open enough not to touch the cube edges when rotating
Also grippers rotation should be adjusted to obtain exact O°, 90° and 180° moves

Nylock nuts should be very slightly tightened, to avoid any friction

Directly building the bot is the best recipe for preparing scrambled eggs  ;)

Please show us your work in progress
Photos/videos are welcome


The complete sketch, including cube.cpp and cube.h is attached to this message
Make sure to also download the VarSpeedServo library

I will post the final python code within a few days


EDIT
V1.3 is now available (Maker Faire 2017 release)    see Post #318




dd5665


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