Chess robot

thingiverse

Hello Thingiverse :) This project is a compilation of 3 others: Gripper by maquina_pensante (http://www.thingiverse.com/thing:1322867), Robotic arm by Idegraaf (http://www.thingiverse.com/thing:1241491), and Chess set by MakeALot (http://www.thingiverse.com/thing:19745). I was inspired by these projects to build a robot that lets me play chess with a friend in another location. First, I made a gripper (http://www.thingiverse.com/make:195330). Then, I designed a simple adapter to mount this gripper for the robotic arm. The center of the gripper is about 4.5cm further than the center of the printing head in Idegraaf's project. So, I decided to make the second arm 4cm longer too (and replace the 320mm belt with 400mm). Now, I'm printing more parts and waiting for some hardware delivery. 2016-02-15 - A little bit of math: Check out the attached picture! A and B are the lengths of robot arms. X and Y are coordinates of the destination point. Here's how it works: 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 angles: one is alfa+beta, and the second is gamma. These calculations are valid for a "right" half of the gameboard - just reverse signs for the "left" side. 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 are printed, but unfortunately, I'm still waiting for linear bearings and belts :(.