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) Chess set by MakeALot (http://www.thingiverse.com/thing:19745) 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: First please see attached picture. 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...