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Long story short, here is a short timeline of all our development steps.
Since I was young I had this idea of a multi-dimentionnal cube solver based on a cube inside a sphere.
The idea was still in my mind but I didn't have the skills to develop it.
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
I looked for an algorithm to solve the 4x4x4 cube.
I talked about this project to a friend who is mechanical engineer, he presented me OnShape, and we began the mechanical development.
First proof of concept 3D printed prototype with two motors that move the cube with gears. We started developing the complete version.
Developpement of the supervisor software (Real time 3D view, resolution sequencing, image processing)
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.
Looking for improvements and a simpler kinematic.
Developpement of Sharer, an Arduino library to facilitate communication with a PC software.
Idea of a kinematic based on a geneva drive rather than a gear.
Developpement of the scan tower to identify the initial state of the cube. Developpement of the image processing software.
Modification of fetus version with a geneva drive inspired kinematic in order to validate it.
Add an electric cabinet with the electronics and power.
Second entire 3D printed machine with 9 motors and magnets.
Add epicyclic gearing on all motors, test of an industrial motor to replace steppers.
Writing and patent application.
Adding of a shaft encoder, central support, cable guides, new electronic cabinet.
New electronic cabinet with subd50 cable.
The patent is officially accepted and will be published.
Ballcuber public release and creation of the website.