Abstract— XY Plotter is an embedded system that works based on the principle Computer Numerical Control. XY Plotter basically works with two stepper motors and a servo motor, wherein the robot plots the input given from the computer on the drawing board using ATMEGA328p microcontroller on a open-source physical computing platform arduino. The XY plotter has a two axis control and a special mechanism to raise and lower the pen. The drawing robot is a robot which offers the fastest way to powerfully produce very large drawings.
This Robotic X-Y Plotter which is basically centered to the vector graphic device, wherein the robot designs or sketches the input given from the computer on the drawing board or a sheet of paper using arduino UNO microcontroller on a open-source physical computing platform arduino IDE software. The board is fed with polargraph server arduino based program which is required for the accurate diagram, and thus with the aid of processing software (version 1.0.5) in which polargraph libraries are uploaded, the robot starts sketching. The X-Y robotic plotter, as the name suggests has a two axis control (i.e. X and Y axis), and a distinctive mechanism to lift up and lift down the pen. Each axis is drove using a single servo motor. The plotter works more efficiently, which is used to recording or plotting two dimensional data on a rectangular coordinate system. In this, arduino compatible main board with two stepper motors for ease moving of pen holder and servo motor is used to lift the pen. For this we are using the software like arduino IDE software and G code converter.
Keywords— Arduino UNO, Polargraph, Stepper Motor, ServoMotor, Plotter, GT2 PulleyBelt.
I. INTRODUCTION
This document is a final report from my last year 2020 distributed research experience as an undergraduate student. My mentor, Prof. Rahul Parbhane, from the Dept. of Electronics and Telecommunication Engineering at the Samarth College of Engineering Belhe (Bangarwadi), Pune, directed my effort in this project for adapting some knowledge about the drawing robot – The robot is the combination of the Mechatronics Engineering, Mechanical Engineering, Electrical Engineering and Computer Engineering have all come together to work together. Robotics is the upgraded technology, it is used for efficiency, welfare, and in saving time and money.
In the water course of robotics, a 2D sketching robotic plotter is used the robot offers the work built on the principle of CNC which concentrates on a varied range of uses like cutting, grinding, production of electronics parts and drawing. This robotic X-Y plotter is robot which provides a fastest way to powerfully produce very large drawings. This sketching robot will be able to print by moving a marker pen or other supplementary writing device across the surface of sheet of paper. This gives us a brief idea that sketching robots or 2D plotters are vector graphic devices,(i.e. these devices are contained of tracks, that are well-defined by a starting and finishing points, alongside with further points, curves, and angles traced in the way.) rather than video display, orpixels
formation graphics (i.e. it does not uses raster graphics, which is a dot matrix figure arrangement, demonstrating usually a rectangular lattice of pixels, or points of color accessible by monitor or paper).
Pen plotter can draw difficult line art, comprising texts, but also do work slowly due to motorized movement of writing device such as pen. This can also be used to produce hard copy of Images, graph, maps, architectural plans and even braille signs for blind people.
II. LITERATURESURVEY
While doing survey we found that most of the printing systems uses the PLC based systems. Due to the printing or drawing with the help of PLC and CNC based systems they required more time for execution so we required more time for those systems. And also the cost of that systems are more so only the large scale industries prefer plotter based printing. To try to solve the problems previously identified, recent years have seen the appearance of several technological solutions.
[1] In 2014 Mrs. R. Dayana, Gunaseelan P. develop a Microcontroller based x-y plotter that having ultra-low power micro controller ofMSP430.
Pulse Width Modulation based driver circuit which has in- built timer circuit in it which makes the user easy. But, when the user tries to modify the timer, they feel difficult to modify as they wish. So, it is better to use separate timer circuit which is available in microcontroller. [2] In 2015, Mihai Rata and Gabriela Rata develop Application with a XY-plotter controlled by PLC used in student laboratory works. The solution is recommended to be used in laboratory works with students, because it can provide a closer experience to the real world applications. [3] Design and Development of XY Plotter Mechanical System Design PART 2 design by the Wei Ming Ng and Rossi Hamzah in2016.
X-Y plotter that accurately synchronize with the Arduino software system for better response on the movement of X and Y axis. Difference IDE and difference languages have been tried and used to complete this project to meet the objectives. [4]The existing CNC plotter machines are of high cost, difficult to maintain and requires highly skilled operators. Our CNC plotter overcomes theseproblems.
It is of low cost and easy to control and there is no need of highly skilled operators. It describes the structure of the machine suitable for domestic modeling [5] An XY-Plotter that operates in two axes of motion (“X” and “Y”) in order to draw continuous vector graphics. XY-Plotter uses pencil to plot the paper that is lying on the flat surface area of the plotter. It is achieved because the XY-Plotter is connected to a computer, which is equipped with specialized plotting design or drawing computer software programs.
III. WHAT IS DRAWING ROBOT?
Robotics is the upgraded technology, it is used for efficiency, welfare, and in saving time and money. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies are used to develop machines that can substitute for humans and replicate human actions.
In the water course of robotics, a 2D sketching robotic plotter is used the robot offers the work built on the principle of CNC which concentrates on a varied range of uses like cutting, grinding, production of electronics parts and drawing. Drawing robot is a robot that draws using stepper motors to make precise shapes on paper, combining the precision of a computer-controlled motor with the analog quality of a motorized movement of writing device such as pen. This can also be used to produce hard copy of Images, graph, maps, architectural plans and even braille signs for blind people.
IV. NEED OF TECHNOLOGY
In this regard an approach is needed towards the robotics, so we need the system which can work efficiently and also we reduce the working time. CNC which concentrates on a varied range of uses like cutting, grinding, production of electronics parts and drawing. This robotic X-Y plotter is robot which provides a fastest way to powerfully produce very large drawings. Robotic 2D Plotter is a plotter that offers the fastest way to efficiently produce very large drawings. Pen plotters will be able to print by moving a pen or other writing device across the surface of a piece of paper.
This means that plotters are vector graphics devices, rather than raster graphics. Pen plotters can draw complex line art, including text, but do so slowly because of the mechanical movement of the writing device such as pen. SCARA which refers to Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arduino is used to make a writing robot wherein the robot plots the input given from the computer on the drawing board. The SCARA robot is an X-Y Plotter. The invention of the X-Y plotters is to recording or plotting two dimensional data on a rectangular coordinate system.
This study emphasizes the fabrication of a XY plotter by using mechanism from scanner and microcontroller system (Arduino) to control the movement of XY axis. Modeling and analysis on X-Y plotter is carried out through the computer linked with the arduino software. It is executed through the algorithm and G-Code and Java programming.
V. RECENT TECHNOLOGY
Recently for printing the electronics parts of system and also for the drawing CNC and PLC based systems are used. Which are not easy to handle and also trained person is required to operate that system. Microcontroller based plotter system is also design but in that system mechanical based components are used as like limit switches.
And also CAD, CAM software’s are used so processing of the system gives lots of time to execute. So we used Arduino based system which is easy to handle.
XY Plotter is an embedded system that works based on the principle Computer Numerical Control. XY Plotter basically works with two stepper motors and a servo motor, where in the robot plots the input given from the computer on the drawing board using ATMEGA328p microcontroller on a open-source physical computing platform Arduino. The XY plotter has a two axis control and a special mechanism to raise and lower the pen.
Each axis is powered and driven by using an Arduino compactable driver A4988. The plotter works more efficiently, which is used to recording or plotting two dimensional data on a rectangular coordinate system. In this, Arduino compatible main board with two stepper motors for ease moving of pen holder and servo motor is used to lift the pen. For this we are using the software like Arduino IDE software and G code converter. This improves the efficiency which produces large and complex drawings.
In the circuit diagram three L293D motor driver shields are connected to the Atmega328 microcontroller to port B and port D. Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The port B output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, port B pins that are externally pulled low will source current if the pull-up resistors are activated. Three different motor shield drivers are connected to the three directions x direction, y direction and z direction. Port B is the bidirectional port which having pull up resistors and it is connected to the inputs of first motor driver shields.
The inputs of the second motor driver shield are connected to the crystal oscillators and interrupts of the arduino. Port D is an 8- bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The port D output buffers have symmetrical drive characteristics with both high sink and source capability. Inputs of the third motor driver shield are connected to the timer of the controller and also the digital pins. Relays are switches that open and close circuits electromechanically or electronically.
VI. RESULT
Advantages
1. Maintain resolution of images even at large size.
2. Replacing pen by suitable cutter enables to create logos on glasses (preview) for designers.
3. Reproducibility and Accuracy.
4. Can be converted to create Braille signs for visually challenged.
5. Low cost and financially feasible tools.
Disadvantages
1. The image that must be prepared on acomputer.
2. The system needs continue powersupply.
Applications
Plotter tool capable of accuracy & precision.
1. Drawing(pen),
2. Cutting(razorblade),
3. Engraving(laser),
4. CreatingBRAILLE
VII. CONCLUSION AND FUTURE SCOPE Conclusion
The Arduino based XY drawing Robot using atmega 328 microcontrollers is used in the arduino board which is used to draw fast and efficient drawings or pictures which can be taken from source converted to scalar vector graphics (SVG) format given as a input. The input is fed in to the input port of the microcontroller. Stepper motors are used to set the position of the pen to the origin and a servomechanism used to lift and the which displays the output on the paper. So we can easily draw the critical images also with less time.
VIII. Future Scope
1. Now we do serial communication so instead of this we can use wireless communication.
2. By using mobile phones we can send the image to our drawing robot.
3. Also we can develop mobile application through which we easily convert our input image into svg format, which then commands plotter forprocessing.
4. We can paint building wall using some modifications, and also detect and fill the exterior wall cracks.
IX. REFERENCES
[1]. “Microcontroller Based X-Y Plotter”, International Journal of Advanced Research in Electrical, Electronics and Instrumentation EngineeringVol. 3, Special Issue 3, April 2014, Mrs. R. Dayana, Gunaseelan P.
[2].“Application with a XY-plotter controlled by PLC used in student laboratory works”, May 2015, Mihai Rata and Gabriela Rata.
[3]. “Design and Development ofXY Plotter Mechanical System Design PART 2”, DOI: 10.13140/RG.2.1.3255.8167January 2016, WeiMing
Ng and Rossi Hamzah.
[4]. “Microcontroller Based Plotter Machine”, Al-Nahrain Journal for Engineering Sciences (NJES) Vol.21 No.3, 0218 pp.350 – 355, 30-April-2017, AnasLateef and AmanIsmailNsayef.
[5] “Design and Implementation of XY-Plotter”, International Journal of Science, Engineering and Technology Research (IJSETR) Volume 7, Issue 7, July 2017, ISSN: 2278 -7798, Mya ThandarKyu, War WarHtun.
[6].“CNClaboratory based scale plotter”, JurajOrvacetal.
,Slovak University of Technology.
[7]. “2D plotter for SCARA”, Internationaljournal for engineering and innovative technology (IJEIT)volume 3,Dr. M Shivkumaretal.
[8].“G-CODE for CNC”, International Journal forEngineering and Innovative Trends in Computing,
T.J. Titus etal.
[9]. “XY Plotter Drawing Robot Arduino Polargraph”, By MertArduino (/member/MertArduino/) in Circuits (/circuits/) >Arduino (/circuits/arduino/projects/)
