Introduction

Hey there! I'm excited to share my cool project with you - it's a 2-axis servo-based CNC pen plotter. But wait, what does that even mean? Well, think of it as a robot that can draw amazing designs on paper! It's like having your very own artist robot.

So, why did I create this? Well, I've always been fascinated by technology and art, and this project combines both. With this CNC pen plotter, I can turn digital designs into beautiful hand-drawn artwork. It's a bit like magic!

In this project, I used some mechanical parts, electronic components, and even crafted some parts myself. I'll walk you through all of it and explain how it works in a way that's easy to understand. Plus, I've got pictures and videos to show you every step of the way.

OVERVIEW

BUILDING AND ASSEMBLING

FINAL RESULTS

Mechanical Components(The Building Blocks)

2020 V Slot Profiles (2x):

• Think of these as long, rectangular metal bars that make up the frame of your pen plotter. They provide a sturdy structure for everything else to attach to.

2020 V Slot 4 Wheels Gantry Plate (2x):

• These are like wheels that run along the V Slot Profiles. They help the plotter move smoothly in a straight line.

GT2 Timing Pulleys (2x):

• Imagine these as special round gears that work with a belt. They help control how the pen moves.

5mm Timing Belt (3 meters):

• This is like a strong, flexible ribbon that goes around the pulleys. When the pulleys turn, it makes the belt move, and that's how the pen moves around.

So, What Do These Parts Do?

1. All these pieces together form the body and movement system of pen plotter. The metal bars make the structure, the wheels make it roll smoothly, and the gears and belt help control where the pen goes. The handmade pulleys just make sure everything stays in place.
2. These mechanical parts are like the skeleton and muscles of plotter. They give it the strength and ability to move precisely when you want it to.

Electronics Components

Arduino Uno:

• Think of it as the brain of our project. It's like a tiny computer that can be programmed to control everything. It tells the motors and other parts what to do.

Arduino Uno V3 GRBL Shield:

• This is like a special helper for the Arduino. It helps the Arduino talk to the motors and control them precisely. It's like a translator between the brain (Arduino) and the muscles (motors).

DRV8825 Stepper Motor Drivers (2x):

• These are like the muscles of our machine. They make the motors move in a very controlled way. It's like the driver of a car - it makes sure the motors go where they're supposed to.

12V 3 Amp Adapter:

• This is like the power source or the battery for our project. It provides the energy needed to make everything work, just like a phone charger provides power to your phone.

USB to Type B Cable:

• This is like the cable that connects your phone to a computer. It lets the Arduino talk to a computer and get instructions on what to draw.

ML17A 3 Stepper Motors (2x):

• These are like the arms and legs of our machine. They move the pen in different directions. It's like having two robot arms that can draw pictures.

Servo Motor (90g):

• This is like a special hand that can lift and lower the pen. It's used to start and stop drawing and to adjust the pen's height.

X-Axis and Y-Axis Cable PCB (DIY):

• These custom-made PCBs are used to organize and manage the cables for the X and Y axes. They help reduce cable clutter and ensure a tidy and efficient layout of the wires, enhancing the overall reliability and appearance of your project.

Function of these:

• So, in simple terms, the electronics parts are like the control center, muscles, power source, and communication tools that make our CNC pen plotter move and draw pictures precisely.

Handcrafted Parts

X-Axis Handcrafted Brackets (2x):

• These are like special holders we made ourselves. They're designed to hold and attach the motors that move the pen horizontally (left and right) on the paper. Imagine them as custom-made hands that grab and control the motor.

Y-Axis Motor Mount Plate:

• Think of this as a sturdy platform i created this to hold the y axis motor in place while x axis moving .It's like a solid base for the motor to sit on.

Y-Axis Height Support Mechanism:

• This is like a helper that ensures the pen stays at the right height above the paper while drawing. It uses a special round part with a bearing (a bit like a wheel) to make sure the pen doesn't get too close or too far from the paper. Imagine it as a little lift that keeps the pen at just the right distance.

Handmade Pulley For Axis :

• This is simple ball bearing attached with some nuts,bolt and plastic plate support to keep everything precisely.It help keep the belt tight, so it doesn't get loose.

X-Axis Linear Cable Holder:

• The X-axis linear cable holder is designed to guide and secure the cables connected to the X-axis. Proper cable management is essential to prevent tangling or interference with the moving parts of the plotter.

Y-Axis Cable Holder:

• Similar to the X-axis cable holder, the Y-axis cable holder plays a vital role in cable management, ensuring that the wires remain organized and do not impede the Y-axis motion.

Servo Pen Holder Complete Mechanism:

• The servo pen holder mechanism is a critical component for controlling the pen's vertical position. It is precisec hand crafted to securely grip the pen and move it up and down as necessary during the drawing process. The mechanism should be precise to ensure accurate pen control.

These handcrafted parts are like the custom-made pieces of a puzzle that help our CNC pen plotter work smoothly and accurately.

SCHEMATIC OF V3 SHIELD

Working Principle of Your CNC Pen Plotter

Here's how it works:

Controlling Brain - Arduino Uno:

• Think of the Arduino Uno as the brain of the robot. It tells the robot what to draw and how to move.

Moving the Robot - Stepper Motors:

• The robot has two stepper motors (like little engines) that control its movements.
• One motor moves the pen left and right (X-axis), and the other moves it up and down (Y-axis).

Talking in G-code - Instructions for the Robot:

• To tell the robot what to draw, we use a special language called G-code. G-code is like a list of steps that the robot understands.
• For example, G1 X10 Y20 means "move the pen to the point where X is 10 and Y is 20."

GRBL Shield - Translator for the Robot:

• The robot doesn't understand G-code directly, so we have a translator called the GRBL shield. It takes the G-code and tells the motors what to do.
• The GRBL shield is like a bridge between the brain (Arduino Uno) and the muscles (stepper motors).

Drawing the Picture - Step by Step:

• Here's how the robot draws a picture:It gets a G-code command from the Arduino Uno.
• The GRBL shield translates it into movements for the stepper motors.
• The motors move the pen according to the instructions.
• The robot repeats this process for every point in the picture, connecting them to create a drawing.

Pen Control - Servo Motor:

• Sometimes, the robot needs to lift or lower the pen without moving it. It uses a servo motor for this. It's like a little hand that can raise or lower the pen as needed.

Precision and Accuracy:

• The robot is very precise and accurate because it follows the G-code instructions carefully. This allows it to create detailed and beautiful drawings.

Computer Connection - USB Cable:

• To give the robot instructions, we connect it to a computer using a USB cable. The computer sends the G-code to the Arduino Uno.

Parameters and Capabilities

WORKING AREA

• THE PEN PLOTTER HAS WORKING AREA OF 40CM BY 40CM.

RESOLUTION

• THE PLOTER HAS RESOLUTION OF 5000 FOR X AND Y AXIS.

SPEED OF PLOTTER

• IT HAS SPEED OF 5000mm/m FOR X AND Y AXIS.

SOFTWARE

UNIVERSAL GCODE SNEDER

• FOR THIS BIG PEN PLOTTER I USE UNIVERSAL GCODE SENDER.DUE TO ITS LOT OF FEATURE,ITS GREAT CHOICE FOR EVERYONE.

INCSCAPE

• FOR CREATING DIFFICULT AND AMAZING DRAWINGS.THE INCKSCAPE IS GREAT CHOICE.

EXTENSION FOR GCODE

• TO CREATE GCODE I USE 4AXIDRAW EXTENSION.IT CREATE GCODE WITHOUT ANY ERROR.

GRBL

• THE GRBL IS USED AS FIRMWARE FOR THIS PLOTTER.IT IS MODIFIED GRBL.BECAUSE IN THIS GRBL M03 COMMAND IS USED TO UP AND DOWN THE SERVO.

CONCLUSIONS

ABOUT DRAWING

• THE HANDMADE SERVO BASED PEN PLOTTER WORKS VERY WELL.
• IT CAN CREATE DIFFICULT DRWAINGS WITH HIGH PRECISION AND SMOOTHLY.
• IT CAN DRAW FASTER WITH SPPED OF 4000mm/m AND WITH ACCELERATION OF 1000STEPS/m.

ABOUT HARDWARE STRUCTURE

• THE MAIN DIFFERENCE THING ABOUT THE STRUCTURE THAT I MADE HAVE NICE CABLE MANAGEMENT SYSTEM.AND I AM VERY HAPPY TO MAKE THAT NICE LOOKING CABLE HOLDING STRUCTURE.
• THE HANDMADE STRUCTURE OF THIS PLOTTER IS PRECISELY CRAFTED.EVEN A SINGLE PART OR PARTS TAKE HOURS TO MAKE.