Instructable: https://create.arduino.cc/projecthub/ricpd/scara-chess-robot-a45793
Arduino code is in https://github.com/rpd123/Arduino-Firmware
Python code is at https://github.com/rpd123/chess-robot
It uses a mini gripper:
https://www.thingiverse.com/thing:4394894/files
manipulator.stl is not required
This is for a modified version of pyBot. See original at:
https://www.jjrobots.com/scara-robotic-arm-assembly-guide/
We have the pyBot stlfiles here. The change from the original is to have a longer shank1 and a replaced shank2 (as well as a different gripper).
Drill through the hub and use a longer screw
The longer shank1 requires a 400mm belt.
Note: this modification is for playing chess, where the load is very light.
This modification allows shank2 to turn right back against shank1, and so allows the robot to stand next to the chessboard and reach near and far squares.
WIRING
Shank1 goes from the shoulder to the elbow, and shank2 goes from the elbow to the gripper.
Connect: X controller to motor which moves shank2 Y controller to motor which moves shank1 Z controller to motor which moves the robot vertically
In this diagram https://github.com/rpd123/community_robot_arm/blob/master/Assembly%20%26%20Control%20Guides/Wiring%20Guide/wiring-lower%20motor.jpg
Controllers are X, Y, Z from left to right.