Design of a Jigsaw-Puzzle-Solving Robot

Abstract

This paper details a process for constructing a jigsaw-puzzle-solving robot. A linear actuation system consisting of aluminum extrusions, stepper motors, pulleys, and timing belts is presented. In addition, a suction-based method for piece retrieval and deposition is described. An algorithm is introduced to analyze individual piece images from a camera to be matched digitally. The initial and final coordinates of each piece are sent to the Arduino and pieces are assembled starting with the border. The final robot is capable of identifying cardboard pieces on a white background, solving the puzzle digitally, and assembling the pieces together with small accuracy errors. The entire process can be completed autonomously.