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...