Mini CNC Plotter

CHAPTER 1

INTRODUCTION
Mini CNC plotter machine is described as it is based on Arduino controller and CNC
shield. CNC is computer numerical control machine. G codes are preparatory Function.
G codes are pre-defining Function Associated with the movement on machine axes. In
CNC Plotter Machine only G codes are used. G codes are giving the Direction to move
the pen in X, Y, Z directions. Pen can be changed by tools of drilling, laser cutting tool,
milling it can be worked, if it is made in large size. The aim of over is to make a mini
CNC plotter machine which is capable to draw difficult design in paper or surface of
metal, To cut it with a great accuracy. We have used 2 stepper motors with lead screw
in Cartesian coordinate X, Y directions and 1 servo motor for Z direction. Stepper
motor is convert digital pulse into lead screw rotations. Stepper drivers are used to give
command to the system. The main aim is to fabricate a MINI CNC plotter Machine to
draw an object with using G codes. We also work on to reduced cost of the project and
increase Reliability and Flexibility. In we have replace pen with mechanical tools
drilling, grinding, machining etc. This will be used for soft material cutting or
machining, laser cutting machine tool is also worked on this setup. We have reduced the
cost, in the setup of mini CNC plotter machine

1.1 Objectives

1. In this project, our aim is to use CNC machine for sketching 2D images by
controlling a CNC machine through a PC, provides it with CNC-readable
code. And then send that data to CNC machine for it to produce a physical
copy of the item designed.
2. The main objective of this project is to provide plotting operation as an
alternative for traditional manual operations done by manually operated
mechanism.
3. To developing a low cost automatic mini CNC machine for PCB drawing and
drilling. This system reduces the cost of machine and increases the flexibility.
4. To build and design an electromechanical device able to create continuous or
discontinuous vector graphics on a solid surface.

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1.2 Problem Statement

1. Nowadays, technology is getting advanced with a lot of things become

smaller and thinner. This project is about to overcome the problem of
machining the small part of work.
2. CNC machine builds up with simple mechanical assembly so if we are able
to add more hardware and enhance the effective code for programming help
it to use overbroad areas.
3. They are flexible and give accurate results, so provides better performance
facilities over long period of time and save human labor.
4. Nowadays CNC XY plotters are being made all over the world using the CD
drive for the scanner mechanism which provides the requires motion along
X-direction & Y-direction. So, this manufacturing process is not suitable for
mass production of plotters.
5. Again, the price of the plotters in the current market is quite high too.
6. So, in order to solve these limitations, we designed a CNC XY Plotter
suitable for mass productions which is cheap as well.

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CHAPTER 2

LITERATURE REVIEW

2.1 Introduction
This chapter are discussing about a study on the previous project based on Mini
CNC plotter. The entire project had been studied and analyzed their principles,
method and applications.

2.2 History:
The first commercial NC machines were built in the 1950's, and run from
punched tape. • CNC, and later CNC, allowed for tremendous increases in
productivity for machine tools because the machines could be run
automatically without requiring constant attention from their operator.

Figure 2.1: Old CNC Machine

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2.3 Literature Review:

CNC stands for Computer Numerical Control. A Computer Numerical Control (CNC)
is the automation of machine tools by which we can draw different type of letter,
picture provided by a computer using software's into its controller. The most common
usage of CNC, and the one relevant to us, is the name given to devices that, under
computer control are able to cut, etch, mill, engrave, build, turn and otherwise perform
manufacturing operations on various materials. Motion is controlled along multiple
axis, normally at least two (X and Y) and a tool spindle that moves in the Z (depth).
The position of the tool is driven by direct-drive stepper motor or servo motors in order
to provide highly accurate movements, or in older designs, motors.

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CHAPTER 3
METHODOLOGY
3.1 Methodology
We have supply the current in Arduino with USB DATA cable to transfer Data from
Computer to Arduino Board , Here we have used 3 Stepper Drivers to supply the G
codes in Sequence to the stepper motors. Arduino will be mounted on CNC shield. CNC
shield will be distribute the Current in the command of Arduino. CNC shield will be
convert the command of G codes in digital pulse by Stepper motor. In X direction
Stepper motor will be move left and Right ,Y direction stepper motor will be move in
front and back direction, Z direction Stepper motor will be move in Up and down. We
have make many difficult design via using this machine. The accuracy of this machines
results is very high. So we have used in industry to reduce the cost of design printing
and maintain accuracy level. Drafting and Scaling of CNC Plotter machine is very
precious.

3.2 Block Diagram and Description

Mini CNC Plotter Machine is worked on input as a G codes of Design and Converting it
via use of Arduino, Stepper Drivers, CNC Shield, Stepper Motor in to a Rotation of
Lead screw. We have work on to maintain lowest cost of our project. We have design a
simple construction of our project. This is easier way to use stepper motor with lead
screw, CNC shield, Stepper drivers, Arduino Board, etc. The Setup of machine is
flexible that’s why it will be easily transported and Maintenance time is short. The basic
diagram of CNC Plotter machine is shown in figure.

Figure 3.1: Block diagram of mini CNC plotter machine

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3.3 Circuit and Wiring

The wiring of the various components of electronics system is represented in the Fig.,
shown below. The microcontroller of Arduino board is connected to the computer
system through the USB serial port. The Stepper Motors of three axes (X, Y and Z) are
connected with CNC shield driver board as Figures shown below. D.C. Power supply is
provided for all the components of electronics system.

Figure 3.2(a): Electronics circuit

Figure 3.2(b): Wiring of CNC Plotter Machine

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CHAPTER 4
HARDWARE DETAILS

4.1 Hardware Requirements

4.1.1 Arduino Uno

The Arduino Uno is an open-source microcontroller board based on the
MicrochipATmega328P microcontroller and developed by Arduino.cc. The board is
equipped with sets of digital and analog input/output(I/O)pins that may be interfaced
to various expansion boards(shields) and other circuits.

Figure 4.1: Arduino Uno

The board has 14 digital I/O pins (six capable of PWM output), 6 analog I/O pins, and is
programmable with the Arduino IDE (Integrated Development Environment), via a type
B USB cable. It can be powered by the USB cable or by an external 9-volt battery,
though it accepts voltages between 7 and 20 volts. It is similar to the Arduino Nano and
Leonardo. The hardware reference design is distributed under an Attribution Share-
Alike 2.5 license and is available on the Arduino website. Layout and production files
for some versions of the hardware are also available.

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Microchip ATmega328P:

ATmega328 is an 8-bit and 28 Pins AVR Microcontroller, manufactured by Microchip,

follows RISC Architecture and has a flash type program memory of 32KB.It has an
EEPROM memory of 1KB and its SRAM memory is of 2KB.It has 8 Pin for ADC
operations, which all combines to form Port A ( PA0 - PA7 ).It also has 3 built in
Timers, two of them are 8 Bit timers while the third one is 16-Bit Timer. It operates
ranging from 3.3V to 5.5V but normally we use 5V as a standard. Its excellent features
include the cost efficiency, low power dissipation, programming lock for security
purposes, real timer counter with separate oscillator.

Figure 4.1(a): Microcontroller

ATmega328 The following table shows the complete features of ATmega328:

Table 4.1 ATmega328

ATmega328Features
No. of Pins
28
CPU
RISC 8-Bit AVR
Operating Voltage
1.8 to 5.5 V
Program Memory
32KB
Program Memory Type Flash

SRAM 2048 Bytes

EEPROM 1024 Bytes

ADC 10-Bit

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Number of ADC Channels 8

PWM Pins 6
ATmega328Features
Comparator 1
8-pin PDIP32-lead TQFP28-
Packages (4)
pad QFN/MLF32-pad
QFN/MLF

Oscillator up to 20 MHz

Timer (3) 8-Bit x 2 & 16-Bit x 1

Enhanced Power on Reset Yes

Power Up Timer Yes

I/O Pins 23
Manufacturer Microchip

SPI Yes

I2C Yes

Watchdog Timer Yes

Brown out detect (BOD) Yes

Reset Yes

USI (Universal Serial Interface)

Yes

Minimum Operating
Temperature -40 C to +85 C

Functions associated with the pins must be known in order to use the device
appropriately. ATmega-328 pins are divided into different ports which are given in
detail below. VCC is a digital voltage supply. AVCC is a supply voltage pin for
analog to digital converter. GND denotes Ground and it has a 0V.Port A consists of
the pins from PA0 to PA7. These pins serve as analog input to analog to digital
converters. If analog to digital converter is not used, port A acts as an eight (8) bit
bidirectional input/output port. Port B consists of the pins from PB0 to PB7. This port

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is an 8 bit bidirectional port having an internal pull-up resistor. Port C consists of the
pins from PC0 to PC7. The output buffers of port C has symmetrical drive
characteristics with source capability as well high sink. Port D consists of the pins
from PD0 to PD7. It is also an 8 bit input/output port having an internal pull-up
resistor. AT mega 328 is the most important part of Arduino. The program is uploaded
on the AVR micro-controller attached on Arduino. AVR attached on Arduino is
shown in the figure given below.

4.1.2 Servo motor

The servo motor is most commonly used for high technology devices in industrial
applications like automation technology. It is a self-contained electrical device that
rotates parts of machines with high efficiency and great precision. Moreover, the
output shaft of this motor can be moved to a particular angle. Servo motors are
mainly used in home electronics, toys, cars, airplanes and many more devices.
A servo motor is a rotary actuator or a motor that allows for a precise control in terms
of the angular position, acceleration, and velocity. Basically it has certain capabilities
that a regular motor does not have. Consequently, it makes use of a regular motor and
pairs it with a sensor for position feedback.

Figure 4.2: SG90 Micro Servo Motor

Servo motor works on the PWM (Pulse Width Modulation) principle, which means

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its angle of rotation is controlled by the duration of pulse applied to its control PIN.
Basically a servo motor is made up of a DC motor which is controlled by a variable
resistor (potentiometer) and some gears.

Servo motors control position and speed very precisely. Now a potentiometer can
sense the mechanical position of the shaft. Hence it couples with the motor shaft
through gears. The current position of the shaft is converted into electrical signal by
potentiometer, and is compared with the command input signal. In modern servo
motors, electronic encoders or sensors sense the position of the shaft.
We give command input according to the position of shaft. If the feedback signal
differs from the given input, an error signal alerts the user. We amplify this error
signal and apply as the input to the motor, hence the motor rotates. And when the
shaft reaches to the require position, error signal become zero, and hence the motor
stays standstill holding the position.
The command input is in form of electrical pulses. As the actual input to the motor is
the difference between feedback signal (current position) and required signal, hence
speed of the motor is proportional to the difference between the current position and
required position. The amount of power require by the motor is proportional to the
distance it needs to travel.
Servo motor is used to carry water in 180-degree axis wherein it directs the fire in
detectedregionsbythesensor.Laterthefirewillbeputoffasthewaterpipewillbecarriedby
the servo motor to the fire hazard region.

4.1.3 Motor Drivera4988:

Figure 4.3: Motor Driver A4988

A motor controller is a device or group of devices that can coordinate in a

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predetermined manner the performance of an electric motor. A motor controller might
include a manual or automatic means for starting and stopping the motor, selecting
forward or reverse rotation, selecting and regulating the speed, regulating or limiting
the torque, and protecting against overloads and electrical faults. Motor controllers
may use electro mechanical switching, or may use power electronics devices to
regulate the speed and direction of a motor.

The driver module can drive two motors. The enabled terminals ENA and ENB are
effective at high level. The control mode and state of motor A are as shown in table.
Table for control mode and state of motor A. If you want to regulate the speed of
motor A by PWM, you need to set IN1 and IN2, confirm the rotational direction of the
motor, and then output PWM pulses for enabled terminals. Please note the motor is in
the free stop state when the signal of enabled terminal is 0. When the enabled signal is
1, if IN1 and IN2 are 00 or 11, the motor is in brake state, and the motor stops
rotating. If IN1 is 0 and IN2 is 1, the motor A rotates clock wise; if IN1is1and IN2
is0,the motor A rotates counter clock wise.

Table 4.2 Motor Driver A4988

The module can be applied to:-Drive DC motors. Since the module uses a dual H-bridge
drive, it can drive two motors at the same time. Drive stepping motors. It can also drive
two stepping motors synchronously.
Motor controllers are used with both direct current and alternating current motors. A
controller includes means to connect the motor to the electrical power supply, and may
also include overload protection for the motor, and over-current protection for the motor
and wiring. A motor controller may also supervise the motor's field circuit, or detect
conditions such as low supply voltage, incorrect polarity or incorrect phase sequence, or

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high motor temperature. Some motor controllers limit the in rush starting current,
allowing the motor to accelerate itself and connected mechanical load more slowly than
a direct connection. Motor controllers may be manual, requiring an operator to sequence
a starting switch through steps to accelerate the load, or may be fully automatic, using
internal timers or current sensors to accelerate the motor. Some types of motor
controllers also allow adjustment of the speed of the electric motor. For direct-current
motors, the controller may adjust the voltage applied to the motor, or adjust the current
flowing in the motor's field winding. Alternating current motors may have little or no
speed response to adjusting terminal voltage, so controllers for alternating current
instead adjust rotor circuit resistance (for wound rotor motors) or change the frequency
of the AC applied to the motor for speed control using power electronic devices or
electromechanical frequency changers.

4.1.4 Stepper Motor

Figure 4.4: Stepper Motor

The digital pulse stepper can be converted into the movement of the pen
with respect to the X, Y, Z axes directions. The stepper motor is a

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brushless motor that distributes full rotation in several equal steps . The
stepper motor in Fig. 4.4 is defined by the property of converting several
drives to a specific increase in the position of the column. Each pulse
moves the column through a fixed angle. This machine has used three
stepper motors with a lead screw and two belts.

The output of the motor will be in the form of the rotation of the lead screw
with respect to the X, Y and Z axis.

4.1.5 Ball Bearing

Figure 4.5: Ball Bearing

The purpose of a ball bearing is to reduce rotational friction and support radial and axial
loads. It achieves this by using at least two races to contain the balls and transmit the
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loads through the balls. In most applications, one race is stationary and the other is
attached to the rotating assembly (e.g., a hub or shaft). As one of the bearing races
rotates it causes the balls to rotate as well. Because the balls are rolling they have a
much lower coefficient of friction than if two flat surfaces were sliding against each
other.

A bearing is a machine element that constrains relative motion to only the desired

motion, and reduces friction between moving parts. The design of the bearing may, for
example, provide for free linear movement of the moving part or for free rotation around
a fixed axis or, it may prevent a motion by controlling the vectors of normal forces that
bear on the moving parts. Most bearings facilitate the desired motion by minimizing
friction. Bearings are classified broadly according to the type of operation, the motions
allowed, or to the directions of the loads (forces) applied to the parts.

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4.1.6 Linear Ball Bearing

Figure 4.6: Linear Ball Bearing

Ball bearing slides are the most common type of linear slide. They use self-lubricated
ball bearings housed in the base. This arrangement offers smooth precise movement
along a single-axis linear design. This low-friction linear movement can be powered by
a drive mechanism, by hand, or inertia. This LM16LUU 16mm Bushing Longer Linear
Ball Bearing is a longer version of our standard LM16LUU linear slide bush for 16mm
hardened steel shafts.

The Bearings gives you very precise, safe and reliable linear motion system. Such linear
motion bearings are mostly used in 3D printers and CNC (Computer Numerical Control)
machines. This Linear Ball Bearing can provide low friction motion along a single axis ,
hence find a wide range of applications in DIY and robotics prototyping. Balls in the
cage loop run along a smooth ball guide surface to ensure low noise even in the high-
speed operation.

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4.1.7 Leaner bearing rod

Figure 4.7: Leaner bearing rod

1. we are using 2 pairs of leaner bearing rod ,One is for X-axis and another one is
for y-axis,
M8×450 for x axis M8×350 for y axis
2. A linear-motion bearing or linear slide is a bearing designed to provide free
motion in one direction.
3. Motorized linear slides such as machine slides, X-Y tables, roller tables and
some dovetail slides are bearings moved by drive mechanisms. Not all linear
slides are motorized, and non-motorized dovetail slides, ball bearing slides and
roller slides provide low-friction linear movement for equipment powered by
inertia or by hand. All linear slides provide linear motion based on bearings,
whether they are ball bearings, dovetail bearings, linear roller bearings,
magnetic or fluid bearings. X-Y tables, linear stages, machine slides and other
advanced slides use linear motion bearings to provide movement along both X
and Y multiple axis.

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4.1.8 GT2 Timing belts

Figure 4.8: GT2 Timing belt

GT2 Timing belts are a fantastic way to transfer rotational motion (from a stepper
motor) into linear motion (along a rail) and these GT2 belts are excellent for the task.
They have a special profile with rounded teeth which reduces backlash. Often used for
precision 3D printers and CNC machine. They are also popular in mechanical devices,
printers/photocopiers, robotics, automation, etc. This belt is 5000mm long (2910 teeth
on a 2mm tooth pitch) and is 6mm wide. It comes in a loop but you can of course cut it
down if you need a shorter length. The GT2 Pulley and Belt offers precise motion
control at very low cost. The GT2 series of belts and pulleys are designed specifically
for precise linear motion. These belts are popularly used in 3D Printers and DIY CNC
Machines.

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4.1.9 GT2 Timing pulley

Figure 4.9: GT2 Timing pulley

This is Aluminum GT2 Timing Pulley 20 Tooth 5mm Bore For 6mm Belt and The
Timing Belt combo forms an integral part of the 3-D printer. These are used for the
precision motion to print even the most intricate designs. GT2 Timing Belt Pulley is
widely used in the 3d printer. GT2 Timing Belt pulley specially design for NEMA 17
stepper motor used in 3d Printer.

The Aluminum GT2 Timing Pulley 20 Tooth 5mm Bore For 6mm Belt is for precise
motion control, GT2 belts, and pulleys offer excellent precision at a great price. This
pulley has 20 teeth and a 5mm inner bore. Two set screws can be used to attach it firmly
to any 5mm diameter shaft. Full aluminum construction means these are very light and
very durable.

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4.1.10 Other Materials

Figure 4.10: Other materials

Other materials includes Power supply plug, USB cable, nuts and holders.

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CHAPTER 5

SOFTWARE REQUIREMENTS

To complete the entire project three software is used:-

 Arduino ide (1.8.13)

 Inkscape (0.92.5)
 Universal G-code sender (2.0.7)

5.1 Arduino IDE (1.8.13)

1. Arduino is a cross-platform IDE that works with an Arduino controller for
writing, compiling and uploading code to the Arduino board.
2. The software provides support for a wide array of Arduino boards, including
Arduino Uno, Nano, Mega, Ethernet, Fio, Pro or pro Mini etc.
3. The universal languages for Arduino are C and C++, thus the software is fit for
professionals who are familiar with these two. Features such as syntax
highlighting automatic indentation and brace matching makes it a modern
alternative to others IDES.
4. This software was used to control the motion of two stepper motors required to
provide motion along X-direction and Y-direction.

Figure 5.1: Arduino ide (1.8.13)

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5.2 INKSCAPE(0.92.5)

Figure 5.2(a): Inkscape (0.92.5)

The use of Inkscape is to convert any image into graphics code usually known as G-
code. G-code formats are generated by integrating Inkscape with necessary extension
files. G-code tools is an open source Inkscape extension, to export G-code for use with
the CNC machine, written in the Python programming language. Inkscape extensions
work in standard Unix IO model, taking SVG on standards input, and output
transformed SVG on standard output .shows the Inkscape software which is used to
convert an image to its G-code.

Figure 5.2(b): Inkscape (0.92.5)

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Inkscape is able to write and edit text with tools available for changing font, spacing,
kerning, rotation, flowing along the path or into a shape. Text can be converted to paths
for further editing. The program also has a layers (as well as an objects) feature that
allows the user to organize objects in a preferred stacking order in the canvas. Objects
can be made visible/invisible and locked/unlocked through these features.

Inkscape MI GRBL Extension –

This software knows how to convert the vector graphics file into G-Code which the
Draw Bot uses to draw the graphic. Once Inkscape and the Inkscape MI GRBL
Extension have created the G-Code file needed to draw the graphic, you need a
program to send the G-Code to the Draw Bot through a USB port. This program is
called the Universal G-Code Sender

5.3 UNIVERSAL G-CODE SENDER (2.0.7)

Figure 5.3(a): Universal G-code sender (2.0.7)

Universal G-code sender is a full featured code sender platform that are compatible with
this CNC machine you have to use the Inkscape. Inkscape is professional quality vector

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graphics software which runs on Windows, Mac OS X and Linux. It is used by design
professionals and hobbyists worldwide, for creating a wide variety of graphics such as
illustrations, icons, logos, diagrams, maps and web graphics. Inkscape uses the W3C
open standard SVG (Scalable Vector Graphics) as its native format. This program also
acts as a front panel to the draw bot. it gives you control over the draw bot motions,
allows, you to reset the draw bot, and it allows you to send G-code files to the Draw
bot.

Figure 5.3(b): UNIVERSAL G-CODE SENDER (2.0.7)

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CHAPTER 6
ASSEMBLY
6.1 Cutting Linear Rods to Length

● Use a measuring tape and sharpie to mark the spots where the rods
need to be cut
○ Use a vise to hold the rods in place and cut them
○ We need (2) 350mm and (2) 450mm long linear rods
○ On the threaded rod, mark cutting point at 470mm
● We used an angle grinder to cut the rods (Be sure to wear safety glasses)
● Use a bench grinder to smooth the ends that were cut (chamfer)

Figure 6.1: Cut our Linear Rods to Length

6.2 Assemble the X-Axis (Linear/Threaded Rods)

 We take the (2) 450mm linear rods and insert them into either x-support part
○ Use may need to use a round file to smooth out the
holes that insert the min
○ Also, we can use a rubber mallet to help insert the rods
● Now we take the threaded rod and insert it in the hole below. Feed a
5/16 in washer and 5/16 in nut on both sides of the x-support part

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Figure 6.2: Assemble the X-Axis (Linear/Threaded Rods)

6.3 Assemble the X-Axis (Bearings)

● Now we want to push the LM8UU bearings into their place on the top and
bottom clam shell
○ The top and bottom clamshell take (4) bearings each
● Take (4) 624zz bearings and push them through the 3D printed idler pulleys.
Leave the 5th bearing for later when you assemble the Y-axis

Figure 6.3: Assemble the X-Axis (Bearings)

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6.4 Assemble the X-Axis (Carriage)

● Get(4)M3-0.5x20mmscrews,(4)M3nuts,
(4)M3washersand(4)624zzbearingswiththeidlerpulleysinstalled
● Take one screw and feed a washer through it, the washer will rest on the
bearing. The nut will be at the bottom of the carriage, which will secure the
bearing in place.

Figure 6.4: Assemble the X-Axis (Carriage)

6.5 Assemble the X-Axis (X-Support)

● Slide the clamshell through the 450mm(X-axis) linear rods
● Use a rubber mallet again to attach the last X-support on the linear rods
○ Make sure that the rods stick out equally on both sides
○ Slide the other end of the threaded rod through the hole on the X-
support
● Put on the last set of nuts and washers to hold the X-support in place
● Now that the X-axis is complete, we can use (2) Phillips M3-0.5 x 16mm

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screws per X-support to help keep the linear rods from sliding.

Figure 6.5: Assemble the X-Axis (X-Support)

6.6 Assemble the X-Axis (Stepper Motors)

 Use an appropriate sized allen wrench to attach the 16 teeth pulleys on the
stepper motor shafts.

 Flipping the entire chassis around will make it easier to attach the stepper
motors.

 Use (8) M3-0.5 x 6mm screws and a Phillips screwdriver to attach the (2) stepper
motors

Figure 6.6: Assemble the X-Axis (Stepper Motors)

6.7 Assemble the Y-Axis (Clamshell)

● Grab (4) M4-0.5 x 35mm screws and (4) M4nuts
● Insert the washers in between the two clamshells, with a screw in between
● Screw the top and bottom clam shells together

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Figure 6.7: Assemble the Y-Axis (Clamshell)

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6.8 Assemble the Y-Axis (Y-Back/Front)

● Y-Back:
○ Take the (2) 350mm linear rods and insert them the Y-back piece by
using a rubber mallet
○ Get (1) M4-0.5 x 35 screw, (1) M4 nut and the 5th 624zzbearing
○ Get (2) M3-0.5 x 16 screws to secure the linear rods
○ Slide in the bearing when inserting the screw through the Y-back
piece
● Y-Front:
○ Slide the linear rods/Y-back piece through the LM8UU bearings and
attach the Y-front piece using a rubber mallet

Figure 6.8: Assemble the Y-Axis (Y-Back/Front)

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6.9 Assemble the X-Y Axis (Belt)

● Use a pair of needle nose pliers to help guide the GT2 belt more easily
through the clam shell
● Take the two ends of the belt and slide them through the “teeth” on the Base
Slider
● The belt should be tight and not loose
● Note that once the GT2 belt is on, it is normal for the clamshell not to move
easily

Figure 6.9: Assemble the X-Y Axis (Belt)

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6.10 Assemble the Z-Axis

● Get (2) 3mm linear rods and the following 3D printed parts:
○ Slider
○ Pen Holder
○ Base Slide
○ 3MM Metric Thumb Screw
● Get (1) Hex M3-0.5 x 20mm screw and the Metric Thumb Screw and push
them together. Use superglue to keep it together.
● Get (3) M3-0.5 x 16mm screws which you will use the secure the Base Slide
to the Y-Front part. You may need to use (3) M3-0.5 nuts in order to hold it in
place
● Push the Slider and Pen Holder together to make one piece
● Now take that new part and the (2) 3mm linear rods and slide the rods through
the holes. Place a small spring in between the two parts so there is a little bit
of pressure to lift the Slider. You may need to cut the spring a bit until there is
an adequate amount of pressure on the slider.

Figure 6.10: Assemble the Z-Axis

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6.11 Connecting the CNC Shield

● There one of two ways to power the CNC shield:
○ Solder an 18 gauge wire as shown on the following slide which
powers the CNC shield from the Arduino
○ Power the CNC shield through its power connector.
● Install 3 jumpers on the CNC shield for each stepper driver
● Connect Stepper Drivers:
○ For A4988 Stepper Drivers , connect the stepper driver with the
screw facing away from the pushbutton as seen in the photos.
Once they are plugged in you can test if they work by moving the
robot around using the Rabbit G Code Sender. If your robot
moves very slowly or does not move at all, double check all your
wiring or use a small screwdriver and adjust the screw on the
stepper driver. Note: you may or may not need to adjust the screw
but if you do, adjust it very slightly
● Wire the servo as shown in the photo in the following slides

Figure 6.11: Connecting the CNC Shield

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6.12 Final Assembled Model

Figure 6.12: Final Assembled Model

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CHAPTER 7
BILL OF MATERIALS
Overall cost of the Machine

SL COMPONENTS QUANTITY COST AMOUNT

NO (Rs)
1 Nema 17 stepper 2 1540 3080
motors
2 Linear bearing rod 2 900 1800
M8x450mm
3 Linear bearing rod 2 800 1600
M8x350mm
4 Linear rod M3x75mm 2 200 400

5 Threaded rod 1 400 400

M8x480mm
6 Linear bearing 8 130 1040

7 SG 90 servo 1 490 490

8 GT2 pulley 16 teeth 2 250 500

9 Bearing 624zz 5 150 750

10 2000mm GT2 belt 1 500 500

11 Ardunio uno (CNC 1 1500 1500

shield)
12 Hardware items and 2000 2000
Miscellaneous

13 TOTAL 14060

CHAPTER 8

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BENEFITS & APPLICATIONS

8.1 Benefits

1. It creates high-quality art

The most important feature of this machine is the flat pen-based drawing
machine that can create lovely calligraphy and even art. The quality of the
drawing in this machine is really good. The designs are simple and clear thus
giving an opportunity to the hacks to have a drawing platform. The additional
feature in this machine is its ability to make a desktop cutter with a special
feature the ‘cutting blade’ and also the laser etcher using a ‘laser diode’.

2. It utilizes a series of Inkscape extensions

This feature provides the control mechanism. Therefore, the machine can be
controlled using the Inkscape extensions. The Inkscape is usually open-source
and free together with its plug in system which creates new extensions for the
machine easily. This has provided a platform for tinkerers to create
programmatic art.

3. It has a wide working area

According to Glozine’s gadget news, the Axis Draw has a wide working area;
300x218mm. This area is wide enough to draw on an A4 or 8.5×11 inch
standard piece of paper. Since it can write on a flat surface, then it acts as a
simplified printer that writes on this paper surfaces. The machine can also
write on a piece of paper less than the A4 sized paper, for example, the A5
envelopes.

4. It is extremely versatile

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This machine has been designed to provide a variety of services. These

services are provided to specialized writing and drawing needs. This machine
carries out any task that can be handled by a handheld pen in many capacities.
Moreover, its ability to use a computer base to produce writings that resemble
handmade has made it be the best in the world; the writings can’t be
differentiated from the real pen characters. It is therefore used to address an
envelope or sign one’s name. These writing are usually made categorically
with the near skill of an artist.

5. The compatible nature of the pen holder

The pen holder in this machine provides a wide variety of pens. This also
includes the sharpie fine together with ultra-fine point markers. However, pens
such as the fountain pens, roller ball, small-bodied whiteboard markers are
also held by this machine. This machine proves to be the best when it holds
these pens at a certain angle the way human beings do. The fountain pen, for
example, is usually held at an angle of 45 degrees to the paper. Other writing
materials like the chalks, charcoal, brushes, and pencils are also held by this
machine by extension.

6. Writes calligraphy letters which attract people

Since it is a machine that never gets tired while it writes, its written characters
are consistently written. This great feature makes the machine suitable to write
formal letters that need to be handwritten. It is also used to sign diplomas and
other certificates. The machine ability to produce calligraphy writings makes it
suitable to decorate lunch bags. It is used to generate computer-based artwork
that is ever attractive to people’s eyes.

7. It’s convenient to use

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This machine can be conveniently used in an organization due to its provisions

of either drawing or writing personal information. In this regard, people who
are using this machine have a variety of choices that they can choose from.
The provision for drawing helps to produce high-quality images while the
provision for writing provides very attractive written letters.

The new inventions have improved the living standards of people. Most people
have always dreamed of having a handwriting robot, but that is now in place.
Personal writing can now be done with a machine. This machine whose value
is estimated to be around $450 will now help people by making their work
easy. It will help to handle heavy-duty within a very short period; the
machine’s arm never gets tired, unlike the human arm. This is now successful
but depending on how different people embrace this new technology and
integrate it into their lives. Axis Draw is the best handwriting machine that
people should have in their offices, homes, and institutions.

8.2 Applications:

1. 3D printing:
By replacing the pen with 3d extrusion pen, we can perform 3D modeling
which is the fastest growing technology in present.
2. Laser engraving:
By replacing the pen with laser machine we can perform laser engraving
operation for engraving different logo, trademarks, bench marks, etc.
3. Laser cutting:
Instead of pen we can use laser cutters for high precision Machining operations.
4. Milling operations:
We can even perform different milling operations such as slotting, grooving, et
provided with over arm and arbor.

CHAPTER 9

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CONCLUSION

 In this paper we have presented the concept of a low cost three-axis mini CNC
plotter. The existing CNC machines are of high cost, difficult to maintain and
requires highly skilled operators. Our CNC plotter overcomes these problems. It
is of low cost and easy to control and there is no need of highly skilled
operators. It can be used for long hours at a stretch which is not possible in
existing ones. It is hoped to extend this work for future development.

 In modern CNC systems, end-to-end component design are highly automated

using computer aided design (CAD) and computer-aided manufacturing (CAM)
programs. The programs produce a computer file that is interpreted to extract
the commands needed to operate a particular machine by use of a post
processor, and then loaded into the CNC machines for production. Since any
particular component might require the use of a number of different tools drills,
saws, etc. With the increasing demand for small scale high precision parts in
various industries, the market for small scale machine tools has grown
substantially. Using small machine tools to fabricate small scale parts can
provide both flexibility and efficiency in manufacturing approaches and reduce
capital cost, which is beneficial for small business owners. In this project, a
small scale three axis "CNC PLOTTER" is designed and analyzed under very
limited budget.

CHAPTER 10
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FUTURE SCOPE OF WORK

1. The pen of the machine can be replaced by a laser to make it work like a laser
engraving or cutting machine.
2. The pen can also be replaced with a powerful drill so that it can be used for both
milling and drilling purposes.
3. The servo can be replaced with a stepper motor and the pen with a 3-D pen to
make it a 3-D printer which can print objects with dimensions.
4. By extrapolation of the axes, the working area of the machine can be extended
keeping the algorithm unaltered.
5. A multi station tool can be incorporated in the existing CNC machine.
6. Automatic clamping mechanism can be installed (Draw bar Mechanism).
7. Automatic tool changing (ATC) devices using Robotic Arm Technology.
8. The PCB Mill: In the manufacturing of précised PCBS (Printed Circuit Board) i.e.
etching or printing the conductive paths which connects

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REFERENCES

[1] Vitale G, A Bonarini, M Matteucci, and L Bascetta 2016 Toward Vocational

Robotics: An Experience in Post-Secondary School Education and Job Training
Through Robotics. IEEE Robotics and Automation Magazine. 23 73-81.
[2] Sadanand R O M, R G Chittawadigi, R Joshi, and S K Saha 2015 Virtual Robots
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[3] Sadanand R O M, S Sairaman , S P H B., G Udhaya kumar R G Chittawadigi,
and S K Saha 2015 Kinematic Analysis of MTAB Robots and its integration with
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[4] Weinert H and D Pensky. Mobile robotics in education and student engineering
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[5] Weinberg J B and Y Xudong 2013 Robotics in Education : Low-cost platforms
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[12] J. Yeiser, "Xy plotter," ed: Google Patents, 1973.

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