Design And Research Of Solving The Third Order Rubik's Cube Intelligent Robot System

The development of intelligent robot technology is a hot topic in the field of high-tech research all over the world.Intelligent robots are widely used in all walks of life and play an extremely important role.The intelligent robot for solving the third-order cube is an intelligent robot system with the comprehensive application of mechanical,electronic,information,computer and other multi-disciplinary knowledge.It is a great challenge to make an intelligent robot system for solving the cube faster,turning action more flexible and fast,and stability better.In this paper,a two arm two finger intelligent cube robot is designed,which can recover the three order cube randomly.There are three parts in the research work of this subject.One is the detailed analysis and Research on the basic structure,rotation property and the algorithm of restoring the third-order cube,which describes and expresses the rotation speed of the cube in mathematical form;the other is the analysis and recognition of the color characteristics of the third-order cube;the third is to design a mechanical structure similar to the human hand to realize the automatic restoration of the cube.The color recognition of cube is based on RGB color model to obtain the color features of cube surface.In order to effectively reduce the interference of light intensity of external environment on cube color recognition and improve the accuracy of color recognition,KNN classification algorithm is used to classify the color features.In the aspect of Rubik's cube solution,this paper uses the kociemba algorithm,which has the least steps in solving Rubik's cube in the world at present.At present,it is the most popular algorithm for computer to solve the path of Rubik's cube recovery.The time for solving the third-order Rubik's cube is MS level.In addition,on the basis of the restoration index system obtained by kociemba algorithm,the number of mechanical execution steps corresponding to the instructions before and after the optimization is optimized,and the test results show that the optimization effect is more significant.Interms of mechanical structure,the closed-loop stepping motor and parallel slide rail cylinder are used as the main executive parts of the Rubik's cube robot.In order to avoid rigid impact when the Rubik's cube robot starts and stops,the inertia generated when the Rubik's cube layer is not clamped is dislocated when the stepping motor starts or stops,the acceleration and deceleration control is carried out for the start and stop of the closed-loop stepping motor.In this project,the PC is the main control unit,and STM32 is the auxiliary controller,The test results show that: the accuracy of color recognition is high,the mechanical structure of the Rubik's cube robot is stable,it can quickly and smoothly recover the Rubik's cube,and most of the Rubik's cubes can be recovered within 15 s.The restoration instruction system obtained by kociemba algorithm is optimized,and the number of mechanical execution steps of the optimized instruction system is reduced by more than 20%.