Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

# Chess robot

## by GigaBajcior, published Feb 13, 2016

Chess robot Feb 13, 2016
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# Summary

Hello Thingiverse :)

This project is a compilation of 3 others:

Inspired by these projects I made a simple plan: to build a robot to allow to play chess with a friend in other location.

First I made a gripper (http://www.thingiverse.com/make:195330).
Then I designed a very simple adapter to mount this gripper for robot arm.

Center of gripper is about 4.5cm further than center of printing head in Idegraaf's project.
So I decided to make second arm 4cm longer too (and replace 320mm belt with 400mm).

Now I print more parts and wait for some hardware delivery.

2016-02-15 - a little bit of math:

A and B are the lengths of robot arms.
X and Y are coordinates of destination point.

Calculations:

• C = SQRT (X^2 + Y^2)
• alfa = asin(X/C)
• beta = arccos( (B^2+C^2-A^2) / 2BC)
• gamma = arccos( (A^2+C^2-B^2) / 2AC)

Now we have two angels we need: one is alfa+beta, second is gamma.

Calculations are valid for a "right" half of a gameboard, for "left" side it is necessary to revers signs.

2016-02-16 - Houston, we have a problem...

...one part is missing, a coupler between stepper shaft and threaded rod for Z axis.
So I added another source to this project: Buko Z Coupler by Deezmaker http://www.thingiverse.com/thing:22390

2016-02-23 - Only small update...

All parts printed, unfortunately I still wait for linear bearings and belts :(

2016-02-29 - Great source of knowledge...

https://roboted.wordpress.com/fundamentals/

2016-02-23 - Only small update...

400mm belt fits perfectly :)

Stay tuned, to be continued...

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Hi GigaBajcior how is the chess robot project going? I am really interested in how it turned out.

This is cool! I am going to stay tuned. I also want to build this project. I have an associates in computer information systems and interested in coding of the interface possibly in python using GPIO libraries. The board will probably need sensors to detect your move, and then the opponents would be a single or double peace move made with the arm. Then lastly the board and would need to be logged into a popular chess network allowing you to join games. Maybe even a spectator mode when its all finished, or even a replay mode.

Also another thing i found instead of using a gripper you could print the peaces with holes for nails like this guy and use an electromagnetic coil to lock pick peaces up --> https://youtu.be/fMPlkMPOFf4

Hi GigaBajcior I like very much your Chess robot project. The selection of a Scara type of Robot Arm makes a lot of sense for a Chess robot application. My only question is if the way the gripper is currently mounted to the arm will not prevent the Arm to go down and pick up small pieces (pawns) without the rest of the arm hitting tall pieces (king, queen). Maybe just modifying the connection point with a L bracket going up between the gripper and the Arm?

Hello Diego,
this is very good question, at this moment I made some measuring only on screen, I will be able to confirm it when I will print some pieces. I chose this set of pieces because lower part of each piece is the same, so Z position of arm will be the same for any piece. I am also a little bit affraid about horizontal dimensions of your gripper, for current arm size maximum size of gameboard's field is 30x30mm, pieces are 20mm diameter, it will be 10mm of free space between pieces... It will be very tight. Maybe it will be necessary to change a shape of gripper's finger, maybe scale down of pieces, we wiil see...

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