Project history
The BallCuber : 4x4x4 Rubik's Cube solving machine
Long story short, here is a short timeline of all our development steps.
2000s
Since I was young I had this idea of a multi-dimentionnal cube solver based on a cube inside a sphere.
2010s
The idea was still in my mind but I didn't have the skills to develop it.
November 2017
I had a look on all solving machine. The 3x3x3 cube is solved by a machine in less than 1 second, so I decide to focus the project on the 4x4x4 cube
December 2017
I looked for an algorithm to solve the 4x4x4 cube.
January 2018
I talked about this project to a friend who is mechanical engineer, he presented me OnShape, and we began the mechanical development.
February 2018
First proof of concept 3D printed prototype with two motors that move the cube with gears. We started developing the complete version.
March 2018
Developpement of the supervisor software (Real time 3D view, resolution sequencing, image processing)
May 2018
First entire machine with 9 motors and gears. Very disappointed, a lot of mechanical frictions. The servo motors are not reliable to prevent internal pieces from falling when the sphere is opened.
June 2018
Looking for improvements and a simpler kinematic.
July 2018
Developpement of Sharer, an Arduino library to facilitate communication with a PC software.
August 2018
Idea of a kinematic based on a geneva drive rather than a gear.
September 2018
Developpement of the scan tower to identify the initial state of the cube. Developpement of the image processing software.
October 2018
Modification of fetus version with a geneva drive inspired kinematic in order to validate it.
November 2018
Add an electric cabinet with the electronics and power.
January 2019
Second entire 3D printed machine with 9 motors and magnets.
February 2019
Add epicyclic gearing on all motors, test of an industrial motor to replace steppers.
April 2019
Writing and patent application.
June 2019
Adding of a shaft encoder, central support, cable guides, new electronic cabinet.
December 2019
New electronic cabinet with subd50 cable.
January 2020
The patent is officially accepted and will be published.
March 2020
Ballcuber public release and creation of the website.