The S.A.M. (Scacchiera Autonomamente Mossa)

We began developing this project with the aim of creating a chessboard that moves automatically using a system of belt-driven carriages, which carry an electromagnet responsible for moving the pieces.

We decided to undertake this project because nowadays, if you want to play chess but have no one to play with, you can only play on digital screens, missing out on a significant part of the real experience of playing chess; in fact, with our chessboard, you have the chance to replicate the real experience of playing chess against an artificial intelligence.

With our chessboard, you also have the chance to learn the basics of chess or hone your skills by playing against different difficulty levels set within the artificial intelligence.

Frame:

1. 5 pieces of wood
2. 4 metal brackets
3. 2 hinges
4. String
5. Plexiglass
6. Screws

Box:

1. 5 pieces of wood:
2. 4 rectangular pieces for the sides of the structure
3. 1 square piece for the base

Circuit:

1. Stepper motors
2. Arduino mini
3. Breadboard
4. Jumper
5. 2 microstepdrivers
6. Electromagnet
7. Relay

Carriage:

1. 2 stepper motors
2. 4 small wheels
3. 3 ball bearing wheels
4. 2 belts
5. Pieces of wood
6. 4 gear wheels
7. Screws

Chess pieces:

1. 32 chess pieces
2. 32 tiny metal squares
3. 32 squares of felt

Other:

1. hot glue
2. Plastic cable ties
3. Adhesive tape
4. Electromagnet

We began by studying the most suitable dimensions for building the two possible types of arms for the automated chessboard.

In particular, we considered the working area of the chessboard, the range of motion required to reach every square, and the overall size of the structure.

The goal was to identify dimensions that could work for both a robotic arm and a 3D printer–like system. This allowed us to compare the two approaches without limiting the design too early. We also took into account stability, precision, and ease of construction when defining the measurements.

After evaluating both options, we chose a structure inspired by a 3D printer.

This type of structure is based on movement along Cartesian axes (X and Y), which makes it easier to control and more precise compared to a robotic arm. In addition, it simplifies both the mechanical design and the programming phase.

Another important factor was reliability: a linear motion system reduces errors and makes the behavior of the machine more predictable. For these reasons, we considered it the most effective solution for our project.

We built a 50×50×9 cm wooden chessboard, hollow inside so that we could place a small carriage to carry the electromagnet and the various cables. We then closed it on top with a 50x50 cm plexiglass panel attached to the wooden structure using two hinges, allowing the chessboard to be opened for maintenance and to observe what is happening inside.

During the development phase, we realized that this configuration had some limitations, both in terms of design and usability. As a result, we decided to redesign the system.

The main change was moving the entire movement mechanism underneath the chessboard. This required rethinking how the motion would be transmitted, since the system had to operate internally rather than externally.

To solve this, we replicated the belt mechanism inside the structure, adapting it to a more compact space. This modification improved the overall appearance of the project and made it more similar to a real automated system, where the mechanical parts are hidden.

After that, we started the arduino circuits. After we had some issues with connecting the wires, we were successfully able to make the circuit work using

Then we started to study how to code in Arduino and Python, and made the code related to the mechanich part with Arduino and the part of code related to the software with Python using stockfish.

We made the chess pieces by painting some pieces that were already existing and glueing metal pieces and felt on the bottom of them in order to be able to pick them up with the electromagnet.

Finally, we managed to make the electromagnet. Initially, we wanted to make one from scratch, and although we came really close to making one that could work, eventually we decided to use a store-bought one with a piston and to attach a magnet to the end of the piston.