Completing a Six-sided 3D Puzzle using SCARA

Abstract

This study presents a SCARA-based robotic system that can complete a six-sided 3D puzzle. The proposed system is composed of a SCARA, a depth camera, a conveyor belt, a computer, and two motors controlled by an Arduino board. The entire algorithm of completing a six-sided puzzle incorporates several main stages, including detecting puzzles, extracting a puzzle cube’s contour through the depth map, analyzing the orientation of a cube, and recognizing the puzzle cube. Finally, every 6-sided puzzle is moved to the target position using vacuum suction.