Development Of Telecontrolled Robot System For Chinese Chess

Among the three major chess games in China,the Chinese chess has the broadest mass base.It is not only one of the typical representatives of Chinese culture,but also an important entertainment way for the elderly.At the same time,the problem of China's aging population is becoming more and more serious.The elderly living alone are in urgent need the care of their children.The Internet has become an important way for parents and children to communicate,but for the elderly,virtual chess is too strange,and even many elderly people can not use computers and smartphones.Therefore,the development of a chess game robot which can be remotely controlled has great market and development prospects.First,this article designs a new chess robot from five aspects: mechanical arm,end-effector,chessboard,hardware control system and software remote control system.Then,the structure of the manipulator is optimized,and the traditional series of 3R structure is selected after the structure is optimized.Then the size of the manipulator is determined by kinematics analysis and inverse kinematics analysis.Finally,the joint rotation angles of each checkerboard point are calculated,which provides the kinematics control target for the development of the control system.Next,the structure of the end-effector is innovated,and a new type of mechanical finger is designed,which can move the manipulator arm once to complete the movement of capture.It overcomes the disadvantage that the former manipulator arm needs to move twice at a time to capture.It can not only save energy,but also operate efficiently.Second,a new chessboard is designed.When the piece does not fall at the intersection of the checkerboard grids,the magnetic suction method can correct a certain drop error,improve the control accuracy and reduce the drop error at the same time,so as to provide convenience for the manipulator to grasp the piece.Then,the control circuit is designed,and the motion control process is analyzed.The single chip computer is used to control the manipulator arm,so that the manipulator arm can complete the preset motion and optimize the moving trail of the manipulator arm.Next,designed a remote control interface,which can control the chess robot remotely to complete chess entertainment activities.Finally,the simulation analysis and physical production of the designed chess robot are carried out,and the test results show that the performance of the robot can meet the design requirements.