RobotRubi

A complete Rubik's Cube solving robot designed from scratch

Robot-Rubi is a fully autonomous Rubik's cube solving robot that combines mechanical engineering, electronics design, computer vision, and advanced algorithms. The entire system was designed and built from the ground up, featuring custom 3D-printed mechanics, a purpose-built PCB, and an optimized solving algorithm.

🎯 Key Features

• Complete end-to-end solution: From cube recognition to mechanical solving
• Custom mechanical design: 3D-printed chassis with 6 stepper motors for cube manipulation
• Purpose-built electronics: Custom PCB with STM32 microcontroller and stepper drivers
• Advanced solving algorithm: Implementation of IDA* with pattern databases for optimal solutions
• Computer vision: Dual camera setup for accurate cube state detection
• Desktop application: User-friendly interface for robot control and monitoring

Project Overview

🔧 System Components

Mechanical Design

• 6-axis manipulation system with NEMA 17 stepper motors
• Linear actuator mechanism for cube insertion/removal
• 3D-printed components designed for precision and durability
• Custom gripper system with spring-loaded cube interfaces

Electronics & Hardware

• Custom 4-layer PCB with integrated stepper drivers
• STM32F401CCU6 microcontroller (ARM Cortex-M4, 84 MHz)
• 6x DRV8825 stepper motor drivers for precise motor control
• USB-C connectivity for power and communication
• 2x Webcam for cube state recognition
• LED ring illumination for optimal computer vision performance

Software & Algorithms

• IDA solving algorithm* with pattern databases for optimal solutions
• Two cube models: Array model for testing, Index model for performance
• Real-time computer vision for cube state recognition
• Desktop application built with modern UI framework
• Microcontroller firmware with state machine architecture

Videos

Link to Video 1

Link to Video 2

Link to Video 3

📁 Project Structure

RobotRubi
├───algorithm/          # Solving algorithms and pattern databases
│   ├───src/           # C++ implementation of IDA* solver
│   ├───docs/          # Algorithm documentation and research papers
│   └───performance/   # Performance analysis and benchmarks
├───docs/              # Complete project documentation
│   ├───chapters/      # Detailed technical documentation
│   ├───images/        # Project images and diagrams
│   └───main.pdf       # Full project report (German)
├───embedded/          # Hardware design and microcontroller firmware
│   ├───Hardware/      # PCB schematics and design files
│   └───Software/      # STM32 firmware implementation
├───frontend/          # Desktop application
│   ├───electron/      # Cross-platform desktop app
│   └───sandbox/       # Development and testing
└───mechanical/        # CAD files and 3D models
    ├───parts/         # Individual component designs
    ├───subassembly/   # Assembly drawings
    └───testPrintParts/ # Prototype iterations

🚀 Performance

• Optimal solutions: Guaranteed shortest path using IDA* algorithm
• Fast solving: Mechanical execution in under 10 seconds
• High accuracy: Computer vision system with LED-enhanced recognition
• Reliable operation: Robust mechanical design with spring-loaded tolerance compensation

🎓 Technical Highlights

This project demonstrates expertise across multiple engineering disciplines:

• Mechanical Engineering: CAD design, 3D printing, linear actuators, precision mechanics
• Electronics Design: PCB layout, power management, motor control, embedded systems
• Computer Science: Algorithm optimization, graph search, pattern databases, computer vision
• Software Engineering: Real-time systems, user interfaces, serial communication protocols

📖 Documentation

Comprehensive documentation is available in the docs/ folder, including:

• Complete technical report (docs/main.pdf)
• Algorithm analysis and performance benchmarks
• Mechanical design drawings and CAD files
• Electronics schematics and PCB layouts
• Software architecture and implementation details

🛠️ Getting Started

1. Hardware Setup: Assemble the mechanical components and connect the electronics
2. Firmware: Flash the STM32 microcontroller with the provided firmware
3. Software: Install and run the desktop application
4. Calibration: Configure camera settings and motor parameters
5. Solving: Insert a scrambled cube and let Robot-Rubi solve it!

This project was developed as a comprehensive engineering challenge, combining the fascination of the Guinness World Record for fastest Rubik's cube solving (0.38 seconds by MIT, 2018) with the educational goal of understanding every aspect of such a system from first principles.