Schmalkalden University of Applied Sciences

Master of Mechatronics and Robotics

Project Report on XY-

Pen Plotter Under the
subject of
Workshop I & Ⅱ

Submitted By

Name Matriculation Nr
Rahul Gupta 313715
Suryadevara
Manohar Shanthati 313760
Joseph Raju Anem 313981
Saikumar Kolla 313767

Guided by
Prof. Dr. Ing. Stefan Roth
University of Applied Sciences Schmalkalden
Faculty of Mechanical Engineering

Prof. Dr. Ing. Silvio Bachmann University of

Applied Sciences Schmalkalden Faculty of
Electrical engineering

1
 Student Declaration

We, Rahul Guptha Suryadevara (313715), Manohar Shanthati (313760),

Anem Joseph Raju (312687), Saikumar Kolla (313767) hereby declare that this
project entitled “XY PEN PLOTTER” done by us under the guidance of PROF. DR.
STEFAN ROTH AND PROF. DR.-ING. SILVIO BACHMANN is not copied and
submitted anywhere for the award of any degree.

DATE:
PLACE: Schmalkalden, Germany

PROJECT MEMBERS

Rahul Guptha Suryadevara

Manohar Shanthati

Anem Joseph Raju

Saikumar Kolla

2
 Acknowledgement

We would like to express our gratitude to all those who provided us the
possibility to complete this project. A special thanks to our supervisors Prof.
Dr.-Ing. Silvio Bachmann and Prof. Dr. Stefan Roth, whose contribution in
stimulating suggestions and encouragement, helped us to coordinate our
project especially in writing this dossier.
Furthermore, we would also like to acknowledge with much appreciation
the role of all those teachers whose teachings gave us knowledge which helped
us in the making of this project. We would also like to thank our colleagues in
our class because it was a great experience to interact with them and their
doubts in the class made us understand the subject better. Last but not the least,
many thanks to all group members, we together had an amazing experience
where we learned from each other, which at last gave us great results.

3
Table of Contents
List of Tables 5
List of Figures 6
Organizational Chart 7
Chapter 1: Introduction 8
Chapter 1B: Project Build Up Stages 10
Chapter 2: Design 27
Chapter 3: Manufacturing & Assembly 29
Chapter-4: Electronics & Programming 31
Chapter-5:Bill OF Materials and Future scope 35

4
 List of Tables

Sr.no Table Table.no Page.no

1 User Requirements 1.1 10
2 Technical Requirements 1.2 13
3 Design Specification 1.3 16
4 Verification protocol 1.4 19
5 Verification report 1.5 22
6 Validation protocol 1.6 26
7 Validation report 1.7 26
8 3D printer characteristics 3.1 29
9 Cost of 3D printer material 5.1 35
10 Mechanical cost 5.2 36
11 Electrical cost 5.3 36

5
 List of Figures

Sr.no Figure Figure.no Page.no

1. Organizational Chart 1 7

2. Description of task 1.1 8

3. V Model 1.2 9

4. CAD Design of side holder 2.1 27

5. CAD Design of Block 2.2 27

6. PEN HOLDER CAD 2.3 27

7. Guiding rod support in Y- 2.4 28

direction

8. Base plate 2.5 28

9. Shafts 2.6 28

10. CAD Assembly of pen- 2.7 28

plotter

11. Zortrax Ultimaker 300 3.1 30

12. Placing pulleys to the rod 3.2 30

holder

12. Placing pen in holder 3.3 30

13. Final Assembly 3.3 30

14. Electronics Circuit Diagram 4.2 33

6
 Organizational Chart

We are a group of 4 students. Provided below is the organizational chart which

explains the responsibilities taken by each of us individually.

Fig 1: Organizational Chart

7
 Chapter 1: Introduction

The XY Plotter is required to plot two-dimensional continuous or discontinuous data on a

rectangular coordinate system. The parts are produced with the help of additive manufacturing material,
because it is cheaper and easy to make and most importantly the parts are made with less weight. The
parts are manufactured based on digital 3D-CAD- Data and objects are built up in the layer. Moreover,
this process can manufacture undercuts without using shaping tools.
The additive manufacturing process is economical for a complex component that is not able to be
produced by the machining process. Firstly, translate the 3D CAD data file into several horizontal layers
via STL-file. For manufacturing of parts, we used printers such as Zortrax Ultimaker 300 with 1.75mm
nozzle diameter.

The slicing program depends on various parameters such as layer height, filler material, printing speed,
Nozzle temperature, and Support structure. Depending on the parameters, CAD-file converted into STL-
file format, this format is an openly documented format for describing the surface of an object as a
triangular mess, that is, as a representation of a 3-dimensional surface in triangular facets. Export STL
file into the 3D printer and then the 3D printer starts the process of manufacturing XY pen plotter
components.

1.1 Description of the Task :

Our task is to design and program a plotting machine which can draw a Nikolaus House.

Fig-1.1 : Above fig the goal for our project suggested by our supervisor

8
1.2 Development of documentation according to V-model

User Requirements Product (XY Pen Plotter)

• Draw the Nikolau’s House • System checking.
using XY-pen plotter. • XY pen plotter operating
procedure validation
• Test protocol.

Technical Specifications Test report

• The pen plotter operating • Cycle time to draw is less than
system using Arduino Uno 55 seconds.
and L298N motor driver. • No error in electrical
• Should take less than 60 connections and in assembly.
seconds to complete one
cycle.

Software requirements System Testing

• Programming of Arduino • Efficient coding,
UNO clear, readable, and
• Designing of parts using maintainable.
SolidWorks • Electronic and
Hardware
components fits
perfectly

Mechanical Requirements Verification of design

• Manufacturing of components • Verifying the manufactured
for XY-plotter using 3D components and its
printer. measurements as per the
• Use the given components such design.
as pulley’s, guide rod, base • Weighing of individual parts.
plate.

Electrical Requirements System integration

• Use 2 DC motor of • Verification of hardware
5V, Arduino UNO to connection and rotation of
control. drives (Bi-directional).
• Motor drive, limit • Testing of start and limit
switch, start switch switches.
has to be used.

Implementation
• Using additive manufacturing
technology all the parts should be
printed.
• Integrating all the mechanical and
electrical components to get the
required mechanism (H-bot).
• Coding the microcontroller to get
the required output (Nikolau’s
House).

9
1B Project Build Up Stages
User Requirements are an essential need for any given project. They define the current
needs of the market and act as a guideway for the entire developmental phase for any
given product. As a result, before starting working on this project we were required to
tabulate down a list of possible user requirements pertaining to technical, functional
and safety needs of the product based on the given theme for our project.
We have mentioned all the requirements in the form of an Excel Sheet which we have

User Requirement
UR # module Title User Requirement Domain Must
(HW/SW/ME/all) /
Wish

Application
UR1 application intended use The XY-pen plotter is designed all M
to draw a Nikolaus' house after
programming and can be used
within the laboratory of
University by students taking
part in Master course MeRo for
educational reasons.
UR2 application use case The plotter has to draw a all M
Nikolaus' house

UR3 application Focus Group Students Master MERO, all M

male/female
20...30 yrs. Old

UR4 application Site of Universities laboratory for all M

Application education

General Functions
UR5 general portability XY pen plotter shall be carried all M
by user of focus group.

UR6 general dimensions XY pen plotter must fit in box HW M

UR7 general Lifetime 4 months lifetime all M

100 cycles
UR8 general Assembly easy to assemble/disassemble HW M

UR9 general Efficiency The plotter should sketch the all W

drawing in less than a minute.

UR10 general Resolution The drawing has to be precise all W

as per the ore defined
dimensions

10
UR11 general Reprogrammable The pen plotter should be able sw W
to draw other drawings such as
alphabets and circles as well

Module Function - Base plate

UR12 Base plate Surface area should be stable enough to hold HW M
all the components and
perform the required task
UR13 Base plate flexibility moveable plate in X direction HW W
while the pen moves on y
direction and Z

UR14 Base plate Grippers should contain gripper at corner HW M

to hold paper
UR15 Base plate Stability It should provide stability by HW M
reducing vibration and jerk

Module Function - Pen holder

UR16 Pen holder Pen's and Adjustable for different kinds of HW W
Marker's unit pens that are available in
internatioal market

UR17 Pen holder easy to replace HW M

use of Schwan Stabilo fineliner,
0,5mm
Use
UR18 Pen holder Pressure It should hold pen firmly, and HW M
pressure should not damage
the pen
UR19 Pen holder Safety It should not have any acute or HW M
pointed edges
Module Function - Slider
UR20 Slider Motion Smooth movement HW M

UR21 Slider Noise Motion should be noise free HW W

UR22 Slider Mounting It should be able to mount pen HW M

holder easily and remove easily
UR23 Slider Speed Controlled speed is required for SW M
precision and accuracy

UR24 Slider Strength Strong enough to withhold any HW M

damage while transporting

Module Function - Motor Controller

UR25 Motor Operation Smooth operation is required SW M
Controller with minimal jerk

11
UR26 Motor Heat Optimal heat management HW W
Controller

Module Function - Power Supply

UR27 Power Power supply Must be able to power the HW M
Supply entire plotter

UR28 Power Button Push button should used for HW M

Supply starting of drawing

Module Function - Wiring

UR29 Wiring Wiring Should be arranged and routed HW M
properly
UR30 Wiring Joints Joints shoulds be covered and HW M
should be insulated
Module Function - Actuation (Drives and belts)
UR31 Actuation Protection Drives and belts should be HW M
(Drives protected properly
and belts)

UR32 Actuation Coverings Proper coverings and markings HW M

(Drives should be made
and belts)

UR33 Actuation Speed Speed should be controlled to HW M

(Drives archieve the desired output in
and belts) certain period of time

Module Function - Coding and Control

UR34 Coding Coding Efficient coding SW M
and
Control

UR35 Coding Software Solid works, Python software SW M

and can be used
Control
UR36 Coding Control X and Y axes should be plotted SW M
and accurately
Control

Regulatory and Standards

UR37 regulatory conformity to device has to be designed all M
& standards according to corresponding
standards standards, i.e. for safety, valid
for the product
Table 1.1
12
Technical Specification
TS # ref. module Title Technical Requirement Domain Must
to UR (HW/SW/ME/all /
# ) Wish

Application
TS1 UR1 applicatio intended use The nikolaus house should all M
n have the dimensions 100x100
mm2 as a maximum

TS2 UR2 applicatio use case The nikolaus house should be all M
n adjustable but doesn't exceed
the dimensions 100x100 mm2
as a maximum

General
Functions
TS3 UR5 general portability 3D printed parts and all the all M
hardware parts should not
exceed weight more than 3kg

TS4 UR6 general dimensions A board of dimensions 35x40 HW M

cm^2 should be used such
that the entire setup can be
kept in a box of
450x500x100mm
TS5 UR7 general Lifetime For longer life cycle all W
maintainance is required for
which a data sheet must be
provided.
TS6 UR8 general Assembly Parts should be HW M
fixed/assembled with screws
which can be deassembled
later on. Screw size should be
4mm and made of stainless
steel.

TS7 UR9 general Efficiency The total drawing time from all W
starting to end should be less
than 60 seconds.

13
TS8 UR10 general Resolution The drawing dimensions of all W
100x100mm should not
exceed.
TS9 UR11 general Reprogrammabl Comments should be added in sw W
e the code such that any other
person can understand and
rewrite the code.
Module
Function
TS10 UR12 Base plate Surface area Base plate surface area should HW M
be 30.5x30.5x10mm

TS11 UR13 Base plate flexibility 2 DC Motors should be used HW W

for x and y direction

TS12 UR14 Base plate Grippers In ideal case gripper will be HW W

used
TS13 UR15 Base plate Stability Vibrations and jerks should be HW M
reduced by properly
calibarating the belts with
respect to connected motors.
Module
Function
TS14 UR16 Pen Pen's and Pen holder is designed in HW W
holder Marker's unit solidworks to fit different sizes
of pen with an 6mm diameter
hole. The hole is straight part
to hold the pen and pressure
is applied evenly.

TS15 UR17 Pen 6mm diameter hole should be HW W

holder provided with which Schwan
Stabilo fineliner pen can be
fitted with proper
adjustments. It should be easy
to replace by user in 10
Use seconds.
TS16 UR18 Pen Pressure Elastic support should be HW W
holder provided to the pen which can
hold the pen firmly and
pressure is evenly disturbuted
with out any damages
TS17 UR19 Pen Safety 3D printed structure should HW M
holder be filed properly with out any
acute or ponted edges.
Module
Function
TS18 UR20 Slider Motion Speed of motor should be HW M
controlled appropritately and
effectively for smooth
movement of slider

14
TS19 UR21 Slider Noise For noise free movement 3D HW W
printed part should be filed to
get smooth surface.
TS20 UR22 Slider Mounting Mounting and unmounting of HW M
pen should be completed in
10 seconds
TS21 UR23 Slider Speed Speed of motors should be SW M
controlled by using
microcontroller with efficient
coding.
TS22 UR24 Slider Strength Fix the slider parts on the HW M
board with screws such that it
can withstand any physical
damages while transporting
Module
Function
TS23 UR25 Motor Operation For smooth operation motor SW M
Controller driver should be used to
supply required voltage and
current to motor which is
controlled by micro controller

TS24 UR26 Motor Heat To reduce heat problems heat HW W

Controller sink should be used for
drivers.
Module
Function
TS25 UR27 Power Power supply The power supply should be HW M
Supply able to deliver 5V of DC supply

TS26 UR28 Power Button Push button should start the HW M

Supply plotter to start drawing from
start to end and bring the
slider to initial position.
Module
Function
TS27 UR29 Wiring Wiring The wiring should be HW M
concealed
TS28 UR30 Wiring Joints Different colours of wires can HW M
be used. Joints should be
connected with insulation
tape
Module
Function
TS29 UR31 Actuation Protection Drives should be fitted into 3D HW M
(Drives printed structure with proper
and belts) accuracy.

15
TS30 UR32 Actuation Coverings 3D printed structure should HW M
(Drives provides required covering
and belts) and physical markings should
be taken by user if necessary

TS31 UR33 Actuation Speed Desired output (Nikolous HW M

(Drives house) should be drawn in 60
and belts) seconds or less.

Module
Function
TS32 UR34 Coding Coding C language should be used for SW M
and coding and python is also
Control possible

TS33 UR35 Coding Software Solid works is used for design SW M

and of parts
Control
TS34 UR36 Coding Control Microcontroller Arduino UNO SW M
and is used to control the speed
Control and direction of 2 motors.

Regulatory and Standards

TS35 UR37 regulatory conformity to The European safety standard all M
& standards regulations should be carried
standards out.

Table 1.2

Design
Specification
DS # ref. module Reference (# bill of materials, Description Domai
to article # supplier part, ref. n (HW,
TS # doc # etc..) to SW,
implementation ME, all)
Application
DS1 TS1 applicatio article # Pen Plotter "Model MERO
n Group14_MERO_PENPLOTTE Group - 14"
R

DS2 TS2 applicatio #1 - ground plate, bill of XY plotter table that can
n materials cover workspace of
(doc.#(XY_pen_plotter)) 100mm x 100mm should
be designed to draw
General
Functions

16
DS3 TS3 general #2 - weight of all components, bill of materials, stating all
bill of materials the weight of components
(doc.#(XY_pen_plotter))

DS4 TS4 general #3 box dimensions, bill of box dimensions are HW

materials 450x500x100mm
(doc.#(XY_pen_plotter))

DS5 TS5 general bill of materials all

(doc.#(XY_pen_plotter))

DS6 TS6 general #4 - screw bill of material, stating the HW

dimensions,assemble and dimensions of screws
disassemble, bill of materials (4mm diameter)
(doc.#(XY_pen_plotter))

DS7 TS7 general drawing time, bill of materials drawing time is less than all
(doc.#(XY_pen_plotter)) 60 seconds

DS8 TS8 general drawing dimesions, bill of referance to drwaing all

materials dimesions
(doc.#(XY_pen_plotter))
DS9 TS9 general bill of material comments are added in sw
doc.#(XY_pen_plotter) the code
Module
Function
DS10 TS1 Base plate #5 - Base plate dimensions, reference to base plate HW
0 Bill of material dimensions
doc.#(XY_pen_plotter) 30.5x30.5x10mm
DS11 TS1 Base plate CAD Model (Model name Used 2 DC motors for X HW
1 XY_plotte.sldasm) and Y direction
DS12 TS1 Base plate Bill of material to hold paper in the corner HW
2 doc.#(XY_pen_plotter) clips are used
DS13 TS1 Base plate Bill of material Calibration is done to HW
3 doc.#(XY_pen_plotter) reduce jerks

Module
Function
DS14 TS1 Pen holder CAD Model (model name reference to pen holder HW
4 PEN_HOLDER.sldasm) diameter

DS15 TS1 Pen holder Bill of material reference to elastic HW

6 doc.#(XY_pen_plotter) support

Module
Function

17
DS16 TS1 Slider Bill of material reference to coding and HW
8 doc.#(XY_pen_plotter) microcontroller output
voltage

DS17 TS1 Slider #6 - Bill of material Filing the part for smooth HW
9 doc.#(XY_pen_plotter) surface

DS18 TS2 Slider Bill of material (doc.# efficient code is written SW

1 XY_pen_plotter) for Arduino to perform the
given task

Module
Function
DS19 TS2 Motor #7 - Bill of material motor drive controller SW
3 Controller doc.#(XY_pen_plotter) L298N Double H-Bridge is
used to drive the motors

DS20 TS2 Motor Bill of material use of Hear sink to reduce HW

4 Controller doc.#(XY_pen_plotter) the heat problems

Module
Function
DS21 TS2 Power Bill of material use the laptop USB power HW
5 Supply doc.#(XY_pen_plotter) supply which delivers 5V,
0.5A

DS22 TS2 Power #8 - Bill of material use of push button to start HW

6 Supply doc.#(XY_pen_plotter) and stop the process

Module
Function
DS23 TS2 Wiring Bill of material use the pvc tube to hide all HW
7 doc.#(XY_pen_plotter) the wires/connections
HW

Module
Function
DS24 TS2 Actuation CAD Model (model name motor drivers are fitted HW
9 (Drives PSIDE_HOLDER.sldasm) properly in the printed
and belts) structure

DS25 TS3 Bill of material To program the pen all

1 doc.#(XY_pen_plotter) plotter with which it can
draw the entire nikolous
house in <=60 seconds

18
Module
Function
DS26 TS3 Coding Bill of material use of C language for SW
2 and doc.#(XY_pen_plotter) coding
Control

DS27 TS3 Coding #10 - Bill of material reference to solidworks SW

3 and doc.#(XY_pen_plotter) software
Control
DS28 TS3 Coding #11 - Bill of material Reference to Arduino UNO SW
4 and doc.#(XY_pen_plotter) board
Control

Table 1.3

Verification Protocol
VerP # ref module test procedure verification ref. # (i.e. Domain
to (description of criterion test (HW/SW/ME/a
TS routine) protocol, ll)
# etc.)
Applicatio
n
VerP1 TS1 applicatio To draw a house, 50/0 or 100/3 all
n until failure or more failure free
than 50 times trails for 18
degree Celsius
or 38 degree
Celsius
General
Functions
VerP2 TS3 general put the pen plotter total weight lab scale ME
and all the hardware has to be >3kg
components (control
unit, cables) on a
scale and weight the
plotter
VerP3 TS6 general by removing all the Should be stopwatch ME
parts that are done within 5
connected to each minutes
other and keeping a
circuit diagram and
timer in front, start
the timer and start
assembling all parts
and stop the timer
and take reading 1
and start timer again
and disassemble all
the parts and at the
end stop the timer
and take reading
19
 again sum the both
readings

VerP4 TS7 general keep the stopwatch time taken <60 stopwatch ME
in front and start the seconds
plotter by push
button and start the
stopwatch parallelly,
at the end after
drawing is completed
stop the timer
Module
Function
VerP5 TS1 Base By writing a code for Bidirectional SW
1 plate X direction and Y movement
direction movement should be
and starting the possible with
process(plotter) and ease
observing visually.

Module
Function
VerP6 TS1 Slider To test whether No noise ME
9 operating noise should come
comes out of the box
Module
Function
VerP7 TS2 Power To check whether Power supply HW
5 Supply power supply module should be <=5v
is compatible with
motor power
requirement by using
multimeter
Regulatory and
Standards
VerP8 TS2 regulator CE conformity CE CE- all
2 y& assessment to be assesssment assessmen
standards carried out with done t doc#
respect to machinery 05_MERO_
device directive CE
2006/42/EC
20
Table 1.4

21
 Verification Report
VerR # ref. to module test function nominal actual criterion remark ref. # (i.e. test Domain
VerP # (to be copied from criterion, value passed / report, etc.) (HW/SW/ME/all
verification protocol)
target value failed )

Application
VerR1 VerP1 applicatio To draw a house, 50/0 or 100/3 50/0 Passed ref to document all
n untill failure or failure free failure #XY_Pen_Plotte
more than 50 trails for 18 trails r
times degree celsius
or 38 degree
celsius
General Functions
VerR2 VerP2 gereral put the has to fit in fits and passed ME
penplotter into a box with lid weight is
box of 38x51x30 closed 2kgs
cm^3 and weight
should be less
than 3kgs
VerR3 VerP3 gereral by removing all Should be 4mins/eac passed ME
the parts that done within h
are connected to 5minutes
each other and
keeping a circuit
diagram
andtimer in
front, start the
timer and start
assembling all
parts and stop
the timer and

22
 take reading 1
and start timer
again and
disassemble all
the parts and at
the end stop the
timer and take
reading again
sum the both
readings
VerR4 VerP4 gereral keep the time taken <60 58 seconds passed
stopwath in seconds
front and start
the plotter by
push button and
start the
stopwatch
parallelly, at the
end after
drawing is
completed stop
the timer
Module Function
VerR5 VerP5 Base plate let motor run Bidirectional possible passed SW
and with 112 rpm movement
plotter from min to max should be
rpm according to possible with
linear movement ease by doing
changes in
code
Module Function
VerR6 VerP6 Slider To test whether No noise There is no passed ME
operating noise should come noise

23
 comes out of the
box
Module Function
VerR7 VerP7 Power To check Power supply 5V passed HW
Supply whether power should be
supply module is <=5V
compatible with
motor power
requirement
Regulatory and
Standards
VerR7 VerP9 regulatory CE conformity CE-conformity CE passed for lab use CE-assessment all
& assessment to conformity no CE doc# CE1234
standards be carried out not necessary
with respect to necessary
machinery
device directive
2006/42/EC
Table 1.5

24
25
Validation
Protocol
ValP # ref. to UR # module validation procedure ref. # (i.e. vaidation criteria
(description of validation
routine) protocol,
customer test,
etc..)
Application
ValP1 UR1, UR2, UR3, application set-up pen plotter at Validation protocol Nikolaus house
UR4 the university's lab, doc.#XY_pen_plotter plotter in one run
start pen plotter by
student, draw Nikolaus
house

Valp2 UR5,UR6, general To place the plotter Validation protocol plotter fits in the box
UR7,UR8 inside the box and close doc.#XY_pen_plotter exactly and no other
the top small enviromental
parameters can move
it or damage it.

ValP3 UR13, UR15 baseplate To run the plotter Validation protocol plotter should be able
doc.#XY_pen_plotter to move in both
directions, it should
be firm ans no noise
should come out.

ValP4 UR8 general To assemble and Validation protocol Each process should
disassemble doc.#XY_pen_plotter get finished with in
4mins each.
Table 1.6

Validation
Report
ValR # ref. to module criteria ref. # (i.e. test report,
ValP # passed / etc.)
failed

ValR1 ValP1 application Passed Validation report

doc.#XY_pen_plotter
ValR2 Valp2 general Passed Validation report
doc.#XY_pen_plotter

ValR3 ValP3 baseplate Passed Validation report

doc.#XY_pen_plotter

ValR4 ValP4 general Passed Validation report

doc.#XY_pen_plotter

Table 1.7
26
 Chapter 2: Design
Summary: This Chapter provides brief information regarding the Design made for our Project.

Entire Design was done in Solidworks. Our Design phase consisted of the following
parts to be designed for this project.
1. Side holders
The side holders are designed in such a
way that it can hold the DC motors and
also to support the guiding rods in X-
direction.

Figure 2.1

2. Block for guiding shaft

The block is a rectangle with
dimensions and has four pulleys on
top of it.

Figure 2.2

3. Pen holder

The aim of this part is to hold the pen

stiff while drawing the Nicolas house
with this pen plotter. It also holds the
guiding rods which are placed in Y-
direction
Figure 2.3

27
 4. Guiding rod Support in Y-
direction
This part holds the guiding rods at one
end in Y-direction and also holds a
pulley at the top of its center to support
the H-bot mechanism.
Figure 2.4

5. Base plate
The base plate holds the side holders
and a paper with clips at the end. The
size of the plate is 315 x 315 mm.
FIigure 2.5

6. Shafts

Shafts help to move the penholder in

desired direction.

Figure 2.6

Figure 2.7 Assembly of the Pen plotter

28
 Chapter 3: Manufacturing & Assembly
Summary: This chapter has been divided into 2 sections

A. Manufacturing
We have used a 3D-printer Zortrax Ultimaker 300 with a nozzle diameter 1.75mm. To
manufacture the parts first we need to Convert the file to .STL. We have used z-suite to slice
the 3D-designed parts.
This printer required a CAD file of STL extension. These files are commonly used for 3D
printing and CAD.

Figure.3.1: Zortrax Ultimaker 300

Characteristics of Zortrax
Ultimaker 300
3D Printer (WxDxH) 473x488x665mm
Weight 50 kg
Build Volume 300*300*300 mm
Materials PET plastic
Technology Used FDM(Fused Deposition Modelling)

Layer Resolution ±0.1mm

Touch-Screen 4.3 inch
Layer Height 0.1-0.4 mm
Print Mode SD Card

Table 3.1 3D printer characteristics

29
B.Assembly
Step 1: Fixing the positions of Holes on the Wooden Board and Drilling
Step 2: Fixing the side holders with screws
Step 3: Fixing the rod holders and pen holder
Step 4: Mounting the motors and pulleys to the side holder and rod holder
Step 5 : Connecting all the and Motors with the help of Transmission Belt
Step 6: Placing the pen in the pen holder
Step 7: Making all the electrical connections

Figure 3.2 placing pullyes to the rod holder

Figure 3.3 placing pen to holder

Figure 3.4 Final product

30
 Chapter-4: Electronics & Programming
Summary: This chapter provides in depth information regarding Electronics and Programming phase of the project

4.1 Hardware and Its Function

MICROCONTROLLER (Arduino uno)

Arduino is an open-source electronics

prototyping platform based on flexible, easy to
use hardware and software.
This microcontroller is very powerful where it
can perform many tasks including robot control.
The on-board
chipset is using ATMEL microprocessor and can
easily be programmed by using Arduino
programming language
and the Arduino development environment.

MOTOR DRIVER l298n

The L298N Motor Driver is a controller that uses

an H-Bridge to easily control the direction and
speed of up to 2 DC motors.

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 POWER SUPPLY UNIT

MB102 Breadboard Power Supply module is

one of the essential and low-cost components
in the electronics labs. It powers the circuits
and is also used for testing purposes. The small
compact module is power efficient and can be
operated using an input voltage range of 6.5
Volts to 12 Volts.

MICROSWITCH RED

The limit switch can be used for Zero position.

DC Motor

The 5 V- 2 Dc motor is used to Rotate the

Gear pulley according to input.
Voltage: 6V
Max. current: 230mA, (blocked: 550mA)
RPM: idle: 77 rpm, norm: 46.7 U/min
Torque: norm: 98 mNm Stall: >245mNm
Dimensions: L: 35 mm B: 12 mm W: 10
mm

ON & OFF SWITCH

The Use of this switch is to start the drawing

of the Nikolaus’ house.

4.2 Electronics Circuit Diagram:

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4.3 Programming Code:

➢ Intialized the Motor pins to

the Arduino pins (2,3,6,7)
➢ Enabled the motor driver
pins via Arduino PWM
PINS(9,10)
➢ Defined the pins as the
output pins

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 ➢ SET the motor 1 pin 1 high and
motor 2 pin 1 high
➢ SET the motor 1 pin 2 high and
motor 2 pins low
➢ SET the motor 1 pin 1 high and
motor 2 pin 1 high
➢ SET the motor 1 pin 2 high and
motor 2 pins low
➢ SET the motor 1 pins low and
motor 2 pin 2 high

➢ SET the motor 1 pins low and motor 2

pin 2 high
➢ SET the motor 1 pin 1 high and motor
2 pin 2 high
➢ SET the motor 1 pins low and motor 2
pin 1 high
➢ SET the motor 1 pin 1 high and motor
2 pin 2 high

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 Chapter-5: BOM & FUTURE SCOPE
Summary: This chapter provides in depth information regarding Electronics and Programming phase of the project

Appendices
Cost calculation
Material Cost for 3D Printer
The parts made from 3D printer. For calculating the cost of material we have used the software called
z-suite. The material we have used is ABS filament 1.75 mm. The total prices of PLA filament
(1.75mm) is 2.5 euro for 100 grams.
Total Material
Sr. Parts Name Printer Name (gm) Cost(euro)
No.
1 Block for guiding shaft Zortrax m300 dual 104 gm 2.6
2 Side holder(2 Pcs) Zortrax m300 dual 68 gm 1.7
3 Pen holder Zortrax m300 dual 28 gm 0.7
4 Guiding rod supper in Y- Zortrax m300 dual 12 gm 0.3
direction
5 Gear_Pulley(2 Pcs) Zortrax m300 dual 4 gm 0.1
6 Move_Pulley(5 Pcs) Zortrax m300 dual 9 gm 0.3
Total 5.7 euro

Table 5.1 Cost of Material for 3D Printer

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Mechanical Cost
Sr.No. Parts Name Cost(euro)
1 Guiding shaft (4 Pcs) 11.04
3 Timing Belt (1.2 meter) 2.6
Total 13.64 euro
Table 5.2 Mechanical cost

Electrical Cost
Sr. No. Parts Name Cost(euro)
1 Arduino UNO 9.45
2 L293N MOTOR DRIVER 6.99
3 Power module 5.45
4 DC Geared Motor (2 Pcs) 14.50
5 toggle Switch 3.40
6 Limit switches 4
7 Bread boards and jumper cables 5.99
Total 49.79 euro
Table 5.3 Electrical cost

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FUTURE SCOPE:

Here in our project we used the limit switch as to stop the rod holder in X axis. Instead
Ultrasonic sensor can be used as the limit switch.

We can also extend our work on the design and make it more reliable and efficient so that
the vibrations can be reduced and quality of the drawing can be improved.

Further optimizing of the code and algorithm can be done and make it more faster. And
accuracy can be increased by installing the stepper motors .

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