Rubik cube solver robot (V-shape)

thingiverse

Core requirements: 1. Stand-alone: No PC, no smartphone. 2. Nice looking: Minimum cable, solid standing, no "gimmics". 3. Works for all cubes: Typical size 2", any sticker configuration. 4. Difficult light situations: No problem. 5. No speed record: But reasonable fast. Concept and idea: https://forum.arduino.cc/index.php?topic=271827.0 Heavy duty gripper (including link to Fusion360 Files): https://www.thingiverse.com/thing:2800244 Changes, improvements: 1. Holder with soft rubber (4mm) for easier control of gripper force. 2. Smaller holder due to conflict caused by inaccurate gripper movement. 3. Support of turning servo: Turning supported by basement and not only held by servo axis. Result: https://youtu.be/Xv4a6-XM1M4 Typical solving time including scanning and calculation: Less than 2 minutes. Servos used: 270° servos to enable 180° moves. Other servos could be used, but with the limitation of 90° moves (SW on Github is configured for standard 180° servos). Small display with core messages: Countdown, timer, and calibration assistance. Teaching/calibration of servos without external computer. Mechanical assembly with M3 Allen screws. Screws in plastic with brass threads. https://www.youtube.com/watch?v=KUEFhiFB6Zs Use wb_shield if gripper is not printed in White. White area is needed to adjust white balance. White balance of picam does not work very well. SW available on Github: https://github.com/DrVoHo/Rubik_solver Driver for display and kociemba solver needs to be installed separately. Parts needed: 1. Raspberry pi. 2. Pi-cam. 3. Servos: MG996 (given timing in SW) or Miuzei DS3218 with 270° turning angle. 4. Display: AZDelivery 128 x 64 (luma OLED ssd1306). 5. Optional: PCA9685 PWM Driver board. Wiring: 1. Display connected to I2C Bus, according to documentation of the display. 2. Microswitches and servos use GPIO Ports as described in SW: - PLUS_BUTTON = 11 - MINUS_BUTTON = 13 - ENTER_BUTTON = 15 - LINKS_DREH = 36 - LINKS_GRIP = 37 - RECHTS_DREH = 18 - RECHTS_GRIP = 16 Be aware that those numbers are the Pins of the GPIO Board and not the GPIO number. Make sure only control line of servos goes to Raspberry Pi. Power an GND of servos must be directly connected to power supply.