Robotic Arms - Rubik's Cube Solver

Two 6 axis robotic arms that solve a Rubik's cube. A picture of the cube is taken by an Android app and information of the cube is send to the robotic arms over Bluetooth. The robotic arms are made of Legos. The motors are controlled by Mindstorms NXT 2.0. The Android app is programmed in Java. (WIP)

You can read more detailed version in Finnish: Palikkatakomo Foorumi

Idea

The idea is to build two robotic arms that can solve a Rubik's cube. The robotic arms have 6 degrees of freedom. There should be an Android app that captures images of a Rubik's cube. The app also calculates a solution. The solution is sent to the robotic arms over Bluetooth.

The arms are built by using 12 servo motors, 4 NXTs, a can of compressed air and by a bunch of Legos. The Android app is programmed in Java.

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Status

• Robotic Arms

  • Kinematics ✔
  • Servo Controls ✔
  • Grabber ✔
  • Compressed Air ✔
  • Movements WIP

• Android App

  • Image Recognition
    • Capturing Images ✔
    • Recognizing a Cube WIP
  • Sending Information
    • Communication ✔
    • Sending the solution

• Communication

  • NXT -> NXT ✔
  • Android -> NXT ✔
  • NXT -> Android ?

• Solving the Cube

  • With Internet ✔
  • Without Internet

Note: At the moment, only the code of the Android app is on Github.

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Authors

• Henry P - Management, Designing, Building, NXC Progamming Zwenkka
• Frans L - Java && NXC Progamming, App Designing Frans-L

License

This project is licensed under the Apache Software License 2.0.

The classes under 'bluetooth' package are modified versions from classes of the project nxt-remote-control (Apache License 2.0) made by jfedor2.

• bluetooth.FindNXT.java is a modified version from ChooseDeviceActivity.java
• bluetooth.NXTTalker.java is a modified version from NXTTalker.java