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Topic: Rubik's cube Robot solver (Read 162903 times) previous topic - next topic

lampel

Hello all ,
does anyone has the frame (stand) stl files for 3d printing ??
i 3d printed the claws from the previous posts and it works good ,
i saw kas support v2 dxf file but it seems not suitable for 3d printing ,
thanks

kas

#331
Jul 05, 2017, 03:31 pm Last Edit: Jul 05, 2017, 03:31 pm by kas
Quote
does anyone has the frame (stand) stl files for 3d printing ??
Did you find a solution ??


benbowman

hey kas!!
long time no contact, i gave up on my project for a little bit there but decided my school might disapprove. might have some simple coding questions to come like if i could get away with completing the project with out a buzzer.

as for you lampel, I did just upload my base for my cube solver, however the camera holder thing i made was a rushed job so might need to glue, drill or someting to make it work. here's the link to my base https://3dwarehouse.sketchup.com/model/cf7d9f09-c40f-469f-a40b-c59e31414775/Rubiks-cube-solver-base 

benbowman

hey kas,
for your code for "Cube Mover hard coded Demo  @kas2017\n" I'm having some troble as when i set the limits for closing the griper it works at the start and finish. however throughought the execution the gripers don't close enough, i can try provide video.
thanks

kas

#334
Jul 30, 2017, 07:27 am Last Edit: Jul 30, 2017, 07:30 am by kas
Hi benbowman

Quote
might have some simple coding questions to come like if i could get away with completing the project with out a buzzer
A buzzer is really useful (and cheap). If you don't have it for the moment, just comment the content of the bip() function:

Code: [Select]

void bip(int duration, int n)    {            // Bip piezo: duration in ms, n repeats
 // for(int i=0; i<n; i++)  { 
 //    digitalWrite(bipPin, HIGH);       
 //    delay(duration);
 //    digitalWrite(bipPin, LOW);         
 //    delay(75);
 // }
}



Quote
I'm having some troble as when i set the limits for closing the griper it works at the start and finish. however throughought the execution the gripers don't close enough, i can try provide video.
A video will definitely help    ;)



benbowman

#335
Jul 31, 2017, 08:41 am Last Edit: Jul 31, 2017, 11:47 am by benbowman Reason: not finished
hey kas,
thanks for that i'll see if i can get a buzzer, but i should be able to run the code soon then.

here's a video of the cube, as you can see the gripper on the left is lose and the one on the right seems fine, these are what my limits are set to, i thought it might be because of the my limits being the oposite to yours (close is higher than open, yours is the opposite)

   DOWN_CLOSE          76
   DOWN_OPEN           35

   BACK_CLOSE          79
   BACK_OPEN           35



https://www.youtube.com/channel/UC7o9_8HEwzxFIk4ifCsnYtQ

kas

#336
Jul 31, 2017, 09:28 am Last Edit: Jul 31, 2017, 09:29 am by kas
@ benbowman

Video link is missing  :-\
please edit your post


benbowman


kas

First make sure that your can manually increase claw closure
You may have reached the mechanical end stop of your left servo
Just unscrew, lift the driving arm and rotate it


Quote
i thought it might be because of the my limits being the oposite to yours (close is higher than open, yours is the opposite)
That's a possibility
Remove cube,
adjust DOWN/BACK_CLOSE/OPEN parameters one at a time and see the effect for yourself
For a good grip, without cube inserted, claw should close about 2mm more than the actual cube edge size and open 1 to 2mm more than cube diagonal




benbowman

hey kas,
thanks, I'd already been playing with my limits, so I've decided to change servo and to add different cushioning thats more gripy as one of my gripers is able to grip the cube while the other obviously can't. I've also been drawing up to 2.5 amps during the uses, does what does yours draw?
thanks

kas

Quote
...and to add different cushioning thats more gripy
I use rubber bands cut out of a bike inner tube, dipped in acetone to remove any greasy residues.


Quote
I've also been drawing up to 2.5 amps during the uses, does what does yours draw?
I tested my servo's last year and had no values over 1500mA   YMMV


Quote
and to add different cushioning thats more gripy as one of my gripers is able to grip the cube while the other obviously can't.
Strange  ::)  this call for additional investigation
Did you try inverting Right/Left servo connectors ??  did it transfer problem to the right servo ??



benbowman

I'll give the idea of the bike tubing out,

that's strange do you know what the stall current of your servos are? but its no real pro blame I've just
increased my power supply

i changed the connections to the servos and they back gripper still doesn't hold the cube I'm a little lost about because the down claw holds the cube beautifully, but i did find that by prints aren't quite aligned so
i will need to upload a different frame for those that would like to use it.   


kas

Quote
i changed the connections to the servos and they back gripper still doesn't hold the cube I'm a little lost about because the down claw holds the cube beautifully
With cube removed, can you manually close the back gripper ??
How is the requested applied force compared to the down gripper ??



benbowman

#343
Aug 10, 2017, 07:14 am Last Edit: Aug 10, 2017, 07:30 am by benbowman
hey kas,
ive managed to solve the problem with the gripping, the claws werent aligned properly and i changed the foam that i was using on the claws.
however, i am now having some dificulties with the python, here's an image
any chance you know whats going on there, i changed the path that you set and it still didn't work.

kas

#344
Aug 13, 2017, 05:21 pm Last Edit: Aug 13, 2017, 07:18 pm by kas
Offending code:
----------------------------------------------------------------------------------------
try:
  p=subprocess.Popen([cubeExplorerPath])        ## Cube Explorer launching
except:
  vSolve.set("** Cube Explorer not found **")
----------------------------------------------------------------------------------------

The most probable reason for the raised exception is a wrong/malformed path to cube512htm.exe

 - can you launch cube512htm.exe manually ??
 - what is your absolute path to cube512htm.exe on your computer ??
 - are you Windows or Mac ??
 - please copy paste the "cubeExplorerPath = ...." line from your actual python code




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