Design And System Function Structure Analysis Of The Solving Rubik’s Cube Combination Of Pneumatic Manipulator

With the rapid development of pneumatic technology, pneumatic manipulator is more and more widely used in the field of mechanical processing, food distribution and development of bionic robot. According to the plan of pneumatic research center of school construction together with the enterprise, it requirs to develop a pneumatic manipulator experiment platform. which can integrate its experiment and exhibition. Through to the project research, feasibility analysis and scheme comparison, we decide to have the research and development on solving rubik’s cube combination of pneumatic manipulator. This manipulator demonstrate the excellent properties, and provide a experimental platform for the research of pneumatic components combined motion stability, and the optimal combination of pneumatic mechanical system.Comparing with several methods of solving rubik’s cube, this solving rubik’s cube combination of pneumatic manipulator is based on the basic principle rubik’s cube. It is used TM(Thistlethwaite Method) for the solving method which apply to computer programming. This manipulator simulates human in the process of solving rubik’s cube of the motion with the elbow joint, forearm propulsion and swing and other basic action. Design the function structure of this solving rubik’s cube combination of pneumatic manipulation, and select pneumatic components. By claw, oscillating cylinder, with guide rod cylinder, and the elbow standard cylinder clamping of rubik’s cube, rotating, propulsion, mechanical arm swinging movement, to rotating rubik’s cube on each floor.Through the comparison for the characteristics and uses of the three common color space model——RGB, HSV, HIS, selects the RGB color model to complete the color identification. Takes COMS camera as the main visual media, makes statistical analysis of the r,g,b value of the captured color——blue, red, yellow, green, white and orange——of the cube by Visual Studio, divides color determination area. Develops an interactive window visual system to realize color image acquisition and processing functions by using the Emgu CV tool of C# environment. Saves the status of the cube’s colors by matrix form, by clicking the button of window, gets the stored status of color and then transfers to internal solution system to get the cube calculation scheme.According to the work requirements of pneumatic manipulator, this research select PLC as lower machine. Design and analyze PLC control system of PLC control program, and complete the debugging of PLC control program.Through the analysis of window interactive rubik’s cube calculating system testing, this decoding system can complete the rubik’s cube storage and image processing, and show the effectiveness and reliability of the system. The decoding system is advantageous to the student to carry on the color processing experiment.