Assembling the Frame

To assist with teamwork, steps are presented with dependency steps listed in parentheses; tasks can be performed in any topological order.

Note that different numbered steps should be treated as different, and the dependencies tell you which parts to use from previous steps when given a choice, since parts can have various other parts added.

• Structure

  • 4× 200mm Aluminum Extrusions
  • 7× 370mm Aluminum Extrusions
  • 1× 340mm Aluminum Extrusions
  • 6× Motor mounts
  • 4× Rubber feet

• Fasteners

  • 23× Brackets with corresponding t-nuts and screws

    • 1× Corresponding allen wrench
  • 7× T-plates

  • Box of m4 screws

    • 1× m4 allen wrench
  • Box of m4 t-nuts

  • Box of m3 screws

    • 1× m3 allen wrench

• Mirrors

  • 2× hexagonal mirror mounts
  • 1× top mirror
  • 1× side mirror

• Spacers

  • 1× 110mm spacer

• Prerequisites

  • Possess the CAD model and all parts
  • Construct everything on a flat and stable surface
  • Make all of the attachments as square as possible

• Step

  • Use three 370mm extrusions to construct a C shape in the pattern of the front, right, and back base extrusions in the model. Use two brackets to connect them together.

• Step

  • Screw a motor mount onto the center of the 340mm extrusion.

  • Attach six brackets on the ends of the 340mm extrusion

    • Use CAD for reference; this will be the D face motor
    • Attach

• Step (, )

  • Slide the 340mm extrusion into the C shape as shown in the CAD model, ensuring that the motor is to the right of the extrusion
  • Use a 370mm extrusion to enclose the C shape using two brackets as shown in the CAD model; tighten the brackets on that extrusion
  • Slide the 370mm extrusion to 110mm away from the left extrusion using the 110mm spacer
  • Slide one t-nut into the ends of each of the left, back and front rails, for the two hexagonal mirrors and phone holder respectively.

• Step ()

  • Take four T-plates and use ??? size screws to attach the rubber feet to the top left end of the T for two of them and top right for the other two
  • Attach them to the four corners of the base of the frame.

• Step

  • Attach motor mounts to two 200mm extrusions, close to an endpoint

• Step

  • Attach the top mirror to a 200mm extrusion

• Step (, )

  • Attach the extrusion from to the extrusion in the front using two (more) brackets. This will hold the F face motor. Ensure it is to the right of the extrusion.

• Step

  • Attach motor mounts to three 370mm extrusions, roughly in the middle.

• Step ()

  • Attach the side mirror to the extrusion on the same side that the motor is mounted, as shown in the CAD model

• Step ()

  • only: Slide an extra bracket in the 200mm extrusion on the right side
  • Construct three L shaped joins of 370mm and 200mm extrusions as shown in the model.

• Step (, )

  • Attach the 370mm extrusion on the back side as shown in the CAD using brackets on the front and right sides. Including one on the left would prevent the back-left mirror mount from fitting.

• Step ()

  • Attach the back-left hexagonal mirror mount

• Step (, )

  • Attach the L-shape with the U motor on the left side. The 200mm extrusion attaches to the 200mm extrusion from . This should use three more brackets.

• Step ()

  • Attach the camera mount as shown in the model

• Step (, )

  • Remove a t-nut from one bracket
  • Slide the t-nut down the right rail
  • Slide the bracket on the right side of the 370mm
  • Slide the 200mm extrusion into the bracket on the top-back 200mm extrusion
  • Screw the t-nut back into the bracket

• Step ()

  • Attach the back-right hexagonal mirror mount

• 6× Nema 17 motors
• 6× Non-wobbly couplers
• 6× 100mm Shafts
• 6× Grippers
• 1× 2.2in Rubik’s cube that fits grippers

There are two measurement techniques that we’ll use to align all of the motors

• Given two shafts and where we intend for them to be collinear
• Slide a third shaft (not attached to anything) up against the right side of . Apply mild pressure and slide it until it contacts .
• Repeat on all four sides .
• Repeat on all four sides of , sliding towards .
• The test is considered successful if collides with the tip of the other shaft in every instance. Whenever the shafts do not collide, it means that the shafts are not collinear and adjustment is required.

• Given four shafts , , , (labelled counterclockwise) where we intend for them to be coplanar

• Align your eye so that the tip of aligns with the tip of and the tip of aligns with the tip of .

  • The test fails if and are at visibly different angles. Same if and are different angles. This means that adjustment is required.

• Repeat, but instead align with and with .

  • For Collinearity(UFDB), this step is impossible since the view is blocked by a mirror. Skip this step in that case.

1. Attach motors to all mounts
2. Attach couplers to all of the shafts
3. Attach the couplers + shafts to the motors
4. Collinearity(UD)
5. Collinearity(LR)

6. Coplanarity(ULDR)

   • If adjustment required: GOTO 4
7. Collinearity(FB)

8. Coplanarity(ULFB)

   • If adjustment required: GOTO 4

9. Coplanarity(FLRD)

   • If adjustment required: GOTO 5
10. Double check collinearity and coplanarity on all axes/planes. If all is good, continue. Otherwise, go to a previous step.
11. Remove all but the bottom motor
12. Replace all of the cube’s center pieces with grippers
13. Slide the yellow face gripper onto the bottom motor
14. Install the F face motor and slide it into the green face gripper
15. Install all of the motors
16. Tighten the set screws on the grippers

• 1× Phone

  • 1× Charger
• 1× Phone mount
• 2× hexagonal mirrors
• Lots of rubber bands
• Lots of cable clips for 3030 extrusion

• Place a phone onto the phone mount such that it can see all faces of the cube clearly through the mirrors
• Secure the phone with lots of rubber bands
• Place the hexagonal mirrors onto the mounts
• Route all of the cables to the motors through the T-slots on the aluminum extrusion; keep them in place using cable clips