Robot Gripper with three fingers for Chess Robot

by maquina_pensante, published

Robot Gripper with three fingers for Chess Robot by maquina_pensante Feb 7, 2016
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6878Views 1650Downloads Found in Robotics


This gripper is intended to be used for a Chess Robot project.
The gripper uses one Hobbyking TurnigyTG9e Analog Micro Servo with 1.5kg/cm (4.8V) of Torque. All parts were 3D printed in PLA and assembled with M2.5 screws (Various sizes needed).
All parts can be printed with out support. The GripperFinger.stl includes some built in support that can be easily removed with a cutter after printing.
More information at: http://www.maquinapensante.com/2016/02/07/3d-printed-chess-robot-gripper/
Video at: http://youtu.be/3SPOJm_jaH8

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Prusa V1





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Really nice! I like this model!

For anyone who wants to fit an arm ;)


Very nice design; I also have a chess playing robot idea in the works; at the moment the idea is shelved due the massive amount of projects I have going on now. Are you planning on using a chess engine? My plan was to use a chess engine and OpenCV, mostly as learning exercise to discover more about Computer Vision.

Thanks. Same here this is just one project being worked in parallel with so many other things so it will take time. I will be using a chess engine, not sure which one yet. There are multiple options here: https://chessprogramming.wikispaces.com/Open+Source+Engines

Using vision would be nice. It is the most sophisticated and elegant method I think.

I am not sure which method to detect movements I will be using though, probably a home made board with some type of sensors (like this: https://www.youtube.com/watch?v=I6xVWr-H0ks&feature=youtu.be ). Something like an expensive DGT board but simpler.


In OpenCV, the software can recoginize symbols such as number and letters, which is a possibility, or you can use RFID. In which you can put a transceiver on the bottom of each piece. Which can store the piece's rank, ie. W_PAWN_1 etc... The possibilities are endless, or bar codes??

this is very great design, I will use it for sure :) Can you upload white parts too?
Best regards

Hi Artur, thank you for your comments.
The white parts on the video are from the wrist rotate and wrist pitch module I am working on. I am still tweaking it but once finished I will upload it too.
Best regards

I will wait :)