Reserved for additional information, photos and videosParts list (PC/webcam version) Frame:- Plywood 10mm
Grippers:
- Plywood 5mm (plexiglass, or PVC)
- 4 standard servo's
- M3 screws 10, 16, 20 and 24mm
- 3mm washers
- M3 nuts
- M3
Nylock nuts- 14mm
brass standoff spacers
For Imperial people, use 1/8" hardware
DrawingAssembly videoEDIT (feb 2018)
The grippers 3D printed version has been released on
Thingiverse
This is the Fusion 360 final assembly, including the wrist servo:

the embedded horns are designed for Futaba 25 teeth spline geometry (Futaba/TowerPro/Orion/Savox/ProTekAce/Bluebird...)
I will release the two specific parts for Hitech servo's family (24T) if required
Discussion starts at post #428
Cube:I use a Dayan GuHong (57 mm), the DaYan ZhanChi is also very good
Do not use the not so smooth genuine Rubik's Cube(tm)
The reference site in China for cubes:
http://lightake.com/c/DaYan_001001005Other parts:- Flexible mini 28 LED USB lamp
(4 bucks shipped)-
Custom shield with 4 servo's sockets- Webcam with optional manual White Balance
Power supply: 6V, 2000mA
I use two 18650 LiFePO4 batteries for powering both Servo's and Arduino
Software:Arduino:
CubeMover V1.3 NEW VarSpeedServo Library Python (PC):
RubikKasBot V1.3Solving (PC):
Cube ExplorerTesting:Make sure you test your hardware according to post #6 and post #13
Android versionAutonomous design w/o PC
Robotic hardware is unchanged, webcam is replaced by an Android smarphone

This version works this way:
Smartphone - take a picture from face #1 and perform color recognition for the 9 facelets
Smartphone - send a Bluetooth command to Arduino to rotate cube to next face
Arduino - rotate Cube to next face
Smartphone - same for all 6 faces
Smartphone - build and send via WiFi a query to a dedicated Rubik's solving server (Montréal, Canada)
Smartphone - receive solution from server (Singmaster notation)
Smartphone - send Bluetooth command to Arduino (Singmaster notation format)
Arduino - move Cube according to command and put the cube in the right order
Typical query to server:
http://nova.polymtl.ca/~simark/solverB/query.php?b=WGGOOOGGG&l=OOGBBYOOY&f=YBBBRRBRR&r=ORBBGGBRR&u=YYRYYGRWW&d=OYYWWWWWW
Corresponding answer from server: OK F U F D'
Clic the query and see for yourself
Aditional hardware:HC-05 or HC-06 Bluetooth board for smartphone/Arduino communication (3$ shipped on eBay)

or a very convenient Arduino/HC-05 combo
Software:Arduino:
CubeMover V1.3 NEW VarSpeedServo Library Smartphone: Rubik's App is available on request (free)
You should understand smartphone connection with HC-05 / HC-06 Bluetooth board
The best approach is to have
Joystick BT Commander up and running (same protocol)
EDIT July 28th, 2018
End of technical supportI have been supporting this project for nearly four years, this was an exciting experience
I have since moved to other projects and it's now time for me to retire
All possible questions have been answered in this thread, just read it
The Android App is
here Feel free to use this thread on a peer to peer basis to share your experience
Please no more PM's
Thanks again for your interest and good luck for your projects