ABSTRACT

IOT BASED 2 D PRINTING ROBOT FOR TEXT AND

GRAPHICS
Building a 2D printing robot and implementing IoT control are the goals of this
project. In addition to analyzing the technological elements that are impacted by
the adoption of IoT, the project seeks to print any text and visuals in any standard
file format to an accurate scale. A functional 2D printer prototype that can be
operated via the Internet of Things is the project's end product. IoT installation
increased the complexity of the 2D printer's construction and necessitated the
addition of a second microcontroller, a Wi-Fi module, and a micro-SD card.

Standard file formats, including Gerber, which are frequently used in PCB design
and related industries, are supported by the robot's design. After processing, this
file is transformed into G-code, which is the set of instructions used by the robot to
operate. In order to simplify the hardware architecture and preserve precise control
over the pen's up-and-down movements, the design incorporates a servo motor for
vertical pen control, which replaces the conventional Z-axis. To ensure smooth
transitions between drawing activities, the servo motor lifts and lowers the pen at
predetermined angles.

The initial implementation focuses on autonomous operation, the IoT framework

provides a foundation for future upgrades, such as real-time control or advanced
monitoring features. The robot’s simplicity and efficiency make it suitable for
diverse applications, including PCB layout printing, artistic drawing, and
educational demonstrations. Efforts will focus on improving print speed, enhancing
resolution, and addressing mechanical optimizations to reduce vibration and
improve the overall print quality. The addition of multi-color printing and cloud-
based design storage are also considered potential enhancements. This project
establishes a foundation for further developments in IoT-based robotic systems for
real-time, remote-controlled manufacturing tasks.
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 1

INTRODUCTION

The Internet of Things (IoT) is revolutionizing the way machines and systems
operate, enabling seamless connectivity, monitoring, and control over networks.
Combined with advancements in robotics, IoT has the potential to address
challenges in automation and precision across various domains. This project
explores the integration of IoT and robotics in the development of a 2D printing
robot specifically designed for printing text and graphics with high precision. By
leveraging IoT technology, this system offers a cost-effective and versatile solution
to tasks that require meticulous detail and adaptability, making it a valuable tool in
domains such as electronics, education, and creative arts.

A number of academic disciplines and technological advancements have come

together to propel the growth and development of IoT technology. The Internet of
Things has become a reality thanks in large part to automation, control systems,
wireless sensor networks, and embedded technologies. The infrastructure required

2
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

for the Internet of Things to thrive has been made possible by the development of
ubiquitous computing, which is the smooth incorporation of computing power into
commonplace items, and the emergence of commodity sensors, which are
reasonably priced and multipurpose. As these technologies develop, they have been
incorporated into a number of sectors, including as healthcare, industry, and
agriculture. IoT devices now have an additional layer of intelligence thanks to
developments in machine learning and data analytics, which allow them to respond
to real-time data, make decisions on their own, and increase productivity. This
feature enables IoT devices to serve as both active parts of smart systems that can
adjust and improve their performance depending on context and environmental
factors, in addition to being data collectors.

IoT is arguably most commonly associated with "smart home" devices in consumer
markets, such as remotely controlled appliances, thermostats, home security
cameras, and smart lighting systems. These gadgets frequently function within
popular ecosystems or platforms, like Google Home, Apple HomeKit, or Amazon
Alexa, which let users monitor and control them via voice assistants, smartphones,
or tablets. Users may more easily control several gadgets in their homes because to
this degree of interconnectivity, which makes daily tasks more convenient and
customized. IoT has shown to be quite useful in healthcare systems in addition to
consumer applications. Healthcare IoT enables more precise diagnosis, remote
patient monitoring, and the automation of some medical procedures through the
integration of sensors and monitoring equipment. By giving patients ongoing care
and relieving the burden on medical staff, this has the potential to revolutionize
healthcare.

However, worries about the privacy and security implications of IoT devices are
growing as they become more commonplace. IoT devices are susceptible to
cyberattacks due to their interconnectedness and the volume of sensitive data they
gather. These gadgets can be used by hackers to obtain private data or even
jeopardize the operation of whole networks. Furthermore, a lot of Internet of Things
devices send data wirelessly, frequently using uncontrolled frequencies, which
might lead to questions regarding data security and access. This makes it difficult
to guarantee that IoT systems abide by national and international laws pertaining

3
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

to data security and privacy. Addressing these issues has become a top priority for
business participants and regulatory agencies as the IoT ecosystem expands.
Standards and procedures for protecting IoT devices and guaranteeing the privacy
of data produced by these devices are being developed by governments and
organizations. In order to reduce hazards and guarantee the ethical and safe
application of IoT technology across a range of industries, these initiatives seek to
define precise rules that developers, manufacturers, and users must abide by.

The rapid evolution of technology has led to significant advancements in

automation and smart systems, particularly in the fields of robotics and IoT
(Internet of Things). 2D printing systems, traditionally used for text and graphic
printing, have primarily relied on manual or semi-automated operations. By
integrating IoT technology with 2D printing, it becomes possible to enable remote
control, real-time monitoring, and data-driven operations, making the system more
efficient and accessible. This project explores the design and development of an
IoT-based 2D Printer Robot that can interpret standard file formats, convert them
into G-code, and execute precise printing tasks.

By converting digital plans into tangible outputs, a 2D printing robot functions

similarly to a traditional printer but with a wider range of uses. In contrast to
conventional printers, which are frequently limited to particular media and depend
on preset configurations, 2D printing robots are incredibly adaptable and modular.
Their versatility enables them to serve as a useful instrument in small-scale
manufacturing operations, artistic endeavors, and educational environments. In
order to improve usability and usefulness, the robot showcased in this project
incorporates Internet of Things technology to offer sophisticated capabilities like
remote operability and real-time feedback.

The suggested 2D printing robot is made to work in a 300 mm by 180 mm

predetermined workspace. An MKS Gen L v1.0 control board, stepper motors for
X and Y axis movements, and a servo motor for pen control are all part of its
modular hardware setup. The servo motor's capacity to control the pen's vertical
orientation makes up for the lack of a traditional Z-axis, which is common in 3D
printing systems. This design strategy ensures smooth transition between drawing

4
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

and non-drawing phases while streamlining the system and preserving fine control
over the pen's up-and-down movements.

1.1 Background

2D printing technology has seen widespread use in industries ranging from graphic
design to manufacturing, with applications requiring high-quality prints of text and
images. Traditional 2D printers are limited in terms of connectivity, automation,
and scalability. However, the advent of the Internet of Things (IoT) offers an
opportunity to address these limitations by enabling remote control, monitoring,
and real-time adjustments. IoT- enabled systems are increasingly utilized in various
fields to enhance operational efficiency, making it a valuable addition to the realm
of 2D printing. Integrating IoT with 2D printers would provide significant benefits,
including better control, increased precision, and the ability to scale operations.

1.2 Purpose

The purpose of this project is to design and develop an IoT-based 2D Printer Robot
capable of printing text and graphics from standard file formats. The project aims
to integrate IoT technology for remote data transfer, and user- friendly operations,
while ensuring high precision and conformance to industry standards. By
combining 2D printing with IoT capabilities, this system will allow for seamless
operation.

1.3 Problem statement

To implement a robot that prints 2D text and graphics to scale from standard file
formats and confirming to standards.
Existing 2D printers lack integration with IoT, restricting their ability to operate
remotely and efficiently. The challenge of achieving high printing precision and
scalability remains. Additionally, current systems face difficulties in converting
standard file formats into G-code for execution on 2D printers. This project
addresses these issues by developing an IoT-based system that enables accurate

5
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

execution of commands, and smooth file format conversion, enhancing the overall
performance and functionality of 2D printers.

1.4 Objectives
The main objective of this project is to design and build a 2D printer robot
integrated with IoT technology, enabling it to print with high accuracy. The project
is divided into several specific objectives. First the project will focus on developing
a 2D printer robot that can accurately print text and graphics from standard file
formats. Second, the project aims to create a seamless process for converting files
into G-code for accurate printing execution. The project will incorporate an
intuitive interface for effortless management and real-time monitoring of printing
tasks.

1.5 Scope of the project

This project is focused on the integration of IoT technology with 2D printing,

specifically for monitoring, and printing. The system will be designed to print from
standard file formats and convert them into G-code for printing. The project will
create a prototype with a limited printing area, focused on precision and IoT
functionality, rather than speed or large-scale operations. The prototype will be
capable of handling specific printing tasks as per the project's objectives.

1.6 Previous Work

While 2D printing technology is well-established, the integration of IoT into such

systems is still relatively new. Several commercial 2D printers offer basic
connectivity options, but most lack advanced features like real-time monitoring, and
file format conversion. Some research has been conducted on IoT-enabled printing
systems, particularly in areas like CNC machining and 3D printing, but these
systems are often complex and costly. The integration of IoT with 2D printing
systems has not been widely explored, creating a gap that this project seeks to
address. Previous work in this field has highlighted the need for greater flexibility,
scalability, and ease of use in 2D printing systems.

6
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

1.7 Research methodology

The research methodology for this project follows a systematic approach, starting
with a comprehensive literature review to explore existing technologies and
methodologies. Based on the findings, the system design will involve selecting the
appropriate hardware and software components. The next step is implementation,
which includes assembling the hardware, developing the IoT integration, and
writing the necessary software for controlling the system.
Finally, the testing and validation phase will assess the system's performance,
ensuring that the robot can print accurately and analyze the results to identify any
areas for improvement.

1.8 Delimitations

This project is limited in scope in several ways. The prototype will focus on specific
file formats only and may not support all possible 2D file types. The printing area
of the robot is limited to a predefined size, and only a few predefined print tasks
will be supported in the prototype. The project will focus on precision and IoT
functionality, rather than printing speed, and the printing quality will be judged
visually rather than through quantitative measurements. Furthermore, while the
project explores IoT-based control, it does not cover large-scale industrial
applications.

1.9 Applications of 2D printing Robots

Robots for 2D printing have a wide range of uses in several industries:

• Prototyping and Electronics:

Prior to mass production, PCB designs can be printed or visualized to verify layouts
and improve prototypes.
Make masks and templates for etching or soldering procedures.

• Art and Design:

Produce intricate drawings, patterns, and graphics on various surfaces such as
paper, canvas, or even textiles.

7
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

Enable artists to automate repetitive or detailed tasks, freeing them to focus on

creativity.
• Education:
Provide a practical tool for teaching concepts related to robotics, programming, and
digital design.
Allow students to experiment with file conversion, motion control, and IoT
integration.

• Small-Scale Manufacturing:
Assist small businesses and hobbyists in creating custom designs and limited-
edition prints.
Facilitate affordable solutions for low-volume production needs.

• Advertising and Customization:

Enable the creation of customized designs for promotional materials, banners, and
packaging.

8
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 2

LITERATURE REVIEW

Bouteraa Yassine in their paper presents a smart robotic solution aimed at

improving wrist rehabilitation by integrating IoT technologies for remote
monitoring and personalized therapy. The system utilizes a robotic platform that
delivers therapeutic exercises for patients with wrist impairments. Equipped with
sensors, the platform collects real-time data, which is transmitted via an IoT
network to a cloud-based platform, enabling remote monitoring and consultations.
This integration allows for personalized rehabilitation feedback, improving the
quality of patient care. The study highlights the significance of combining robotics,
IoT, and rehabilitation technologies to enhance the efficiency and accessibility of
healthcare solutions, offering a novel approach to remote and personalized therapy
for wrist injuries [1].

The paper by Mange Huang, presents a novel design for a portable inkjet printer
that incorporates Internet of Things (IoT) technology for remote cloud-based
printing. The aim of this research is to develop a compact printer that can be
accessed and operated remotely via IoT-enabled devices, allowing users to print
from anywhere. The system utilizes wireless communication for seamless
integration with a cloud platform, where users can manage print jobs, monitor
printer status, and access additional features. The authors address challenges related
to minimizing the printer's size while maintaining its functionality, ensuring
portability, and enabling wireless connectivity. This research highlights the
potential of cloud-based, IoT-enabled printing solutions for both personal and
professional applications [2].

The paper by M. Trautmann, L. Kong, presents a compact motorized rotation

mount designed for precise and rapid optical polarization control, particularly
suited for ultracold atom experiments. The system features a stepper motor with a
hollow shaft that allows laser light to pass through without obstruction, facilitating
easy integration into optical setups. It achieves high rotational accuracy with

9
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

minimal backlash and a fast switching time of 15.9 milliseconds, making it highly
effective for applications requiring quick and precise polarization adjustments. The
compact and automated design of the mount ensures reproducibility and efficiency,
making it an ideal tool for laboratory environments where precise control of optical
polarization is essential.

The paper by H. P. Gandhi presents a methodology for enhancing autonomous

robot navigation in dynamic environments. The approach leverages a Raspberry
Pi-based system, integrating sensors and real-time processing to detect and avoid
obstacles while ensuring accurate path planning. The system uses advanced
obstacle detection and avoidance algorithms, improving the robot's localization and
autonomous navigation capabilities. The proposed solution demonstrates notable
advancements in accuracy and performance, making it a promising tool for a
variety of real-world robotic applications.

The paper by Soumendu Chakraborty presents a facial recognition system based on

the Extended Local Gradient Hexa Pattern (LGHP) algorithm, implemented on a
Raspberry Pi. This system provides an efficient and cost-effective solution for real-
time biometric authentication, offering accurate and fast facial recognition. The
extended LGHP algorithm enhances recognition performance by extracting robust
features, improving the system’s ability to recognize faces in various conditions.
With the Raspberry Pi serving as the platform, the system offers a compact and
low-cost solution suitable for deployment in embedded systems. The system
demonstrates superior recognition accuracy compared to conventional facial
recognition methods, even under different environmental conditions.

The paper by János Simon presents an IoT-enabled 3D-printed mobile robot

platform designed to enhance STEM (Science, Technology, Engineering, and
Mathematics) education. The platform is specifically aimed at providing
mechatronics engineering students with practical, hands-on training in mobile
robotics, integrating key disciplines such as control engineering, mechanical
engineering, electrical and electronic engineering, and information engineering. By
leveraging 3D printing technology, the platform offers a customizable and cost-
effective solution for educational institutions. Its IoT capabilities enable real-time

10
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

monitoring and control, fostering interactive learning and enabling students to

engage in practical robotics development. This development responds to the
increasing demand for skilled robotics engineers and provides an effective tool for
bridging the gap between theoretical knowledge and real-world application in
mobile robotics education.

The paper by Mrs. A. Kavitha, explores the integration of a servo motor with the
Raspberry Pi 3B microcontroller using the Blynk app for real-time control. The
system employs a user-friendly interface within the Blynk app, which includes a
slider and a submit button, allowing users to adjust the servo motor's position
interactively. This real-time control mechanism demonstrates the responsiveness
and efficiency that the Blynk app facilitates, contributing to the broader Internet of
Things (IoT) field by enabling precise and mobile-controlled servo motor
operations. The paper highlights the potential of using mobile applications in IoT-
driven automation systems for improved control and user experience.

The paper by R. R. Wadhwa, explores the essential role of stepper motors in

enhancing the performance of CNC (Computer Numerical Control) machines. The
study focuses on the operational characteristics of stepper motors, such as torque,
speed, and accuracy, and investigates how these factors affect the overall
performance of CNC systems. It also presents strategies for improving stepper
motor performance, including advanced control techniques and proper motor
selection. The goal of these improvements is to increase the precision, reliability,
and efficiency of CNC machines, ultimately optimizing their performance in
various industrial applications.

The paper by T. S. Bhat, presents an innovative approach to servo motor control

using direct visual sensory-motor feedback via Convolutional Neural Network
(CNN) inference. The authors propose the integration of a Pixel Processor Array
(PPA) for high-speed processing of visual data, enabling real-time, precise servo
motor control. By combining in-sensor CNN with the PPA, the system ensures
efficient and accurate motion control, which is especially valuable for high-
performance robotics applications where both speed and precision are crucial. This

11
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

approach significantly reduces latency, enhancing the overall responsiveness and

performance of the system in dynamic environments.

The paper by Binu Mol T. V, presents a feasibility study on automating computer

lab operations through IoT-based management of Uninterruptible Power Supply
(UPS) systems. The study addresses the challenge of managing the operation of
UPS systems in labs, particularly where there are no technical assistants available
to monitor the power status or perform routine maintenance. The paper highlights
the low power consumption of Raspberry Pi devices, which makes them ideal for
energy-efficient, battery-operated IoT solutions. It explores how IoT technology
can be leveraged to monitor and control UPS systems, with Arduino
microcontrollers playing a key role in systems involving sensors, actuators, and
real-time control. A comparative study of Arduino and Raspberry Pi is presented,
along with an overview of various IoT standards, emphasizing the flexibility in
creating IoT systems using either or both platforms based on specific project
requirements.

The paper by T. Varun Sai, investigates the feasibility of implementing real-time

object detection on a Raspberry Pi 3. With recent advancements in deep learning,
object detection techniques have significantly improved in terms of speed and
accuracy. However, real-time detection requires substantial processing power, and
achieving this on hardware with limited resources presents challenges. This study
tests two object detection methods on the Raspberry Pi 3 B to determine their
suitability for such hardware. The evaluation involves assessing detection
accuracy, processing time, and frame rate to ensure practical applicability. The
Raspberry Pi Model B, paired with the Raspberry Pi Camera Module v2, is used
for the project, demonstrating that, despite its limitations, the system can achieve
reliable real-time object detection with suitable methods.

The difficulties of human error in conventional construction layout marking

methods, like chalk lines, which result in differences between blueprints and actual
layouts, are addressed in the paper by Fahad Iqbal et al. The authors provide a
framework for automated layout printing that combines Autonomous Mobile
Robots (AMRs), the Internet of Things (IoT), and Building Information Modelling

12
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

(BIM) in order to get around this. The AMR, which was created with an ESP32
microprocessor and is linked to a cloud platform, prints layout lines precisely and
collects coordinates from BIM-based tools. According to experimental results, the
system achieves an accuracy of ±4 degrees for angle and ±15 mm for precision.

The paper H. Kareemullah, presents the development of a remotely controlled

robotic arm, specifically designed to assist in hazardous environments such as
quarantined rooms of COVID-affected patients. The research is driven by the need
to reduce human interaction with potentially dangerous environments, especially
during the global pandemic. The proposed system features a 3-DOF (Degrees of
Freedom) robotic arm controlled via Wi-Fi using the Blynk IoT application. The
arm uses stepper motors and can be controlled through widgets like Joystick and
Sliders within the app. Its applications include health monitoring, sample
collection, and medication delivery to patients without direct human contact. The
study shows that the robotic arm exhibits a 3% deviation from the simulated and
actual results when the slider control is adjusted, indicating a high level of accuracy
and practical applicability in real-world scenarios.

The paper by Heng Xiang, discusses the importance of security in the Internet of
Things (IoT), a network composed of interconnected, heterogeneous devices. With
IoT handling a vast amount of sensitive data and providing widespread
accessibility, securing IoT devices and communications becomes a critical concern.
Traditional cryptographic algorithms and silicon-based security systems are
increasingly vulnerable to evolving attacks, prompting the exploration of 2D
materials in hardware security applications. The authors examine how 2D materials
can enhance IoT security by facilitating the development of true random number
generators (TRNGs), physical unclonable functions (PUFs), and anticounterfeit
technologies. These elements are vital for cryptographic keys, authentication, and
identification. Unlike conventional methods that rely on manufacturing variations,
2D materials offer additional entropy sources, such as the randomness in material
growth and charge trapping/detrapping. The review also covers the progress in the
development of 2D material-based security primitives and highlights challenges
such as entropy sources, reliability, and vulnerability to machine learning-based
attacks.

13
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

The paper by Silvia Conti, explores the use of 2D materials in the development of
printed transistors for large-area electronics, particularly for the Internet of Things
(IoT). The demand for lightweight, flexible, and low-power electronics, which can
be fabricated on various substrates like plastic, paper, and textiles, has driven the
exploration of 2D materials. These materials possess unique chemical
compositions, structures, and electronic properties that make them ideal for use in
field-effect transistors (FETs). The solution processing of 2D materials allows for
fabrication without the need for controlled environments, such as glove boxes, and
requires minimal chemical processing. This, combined with the ability to use
printing technologies, offers advantages in terms of ease of processing, cost-
effectiveness, scalability, and compatibility with flexible substrates. Despite these
advantages, the electronic quality of solution-processed 2D materials remains a
significant challenge, limiting the development of high-performance printed and
flexible devices. The review provides a comprehensive overview of the current
state of research, discussing the performance limits, figures of merit, and the future
challenges and opportunities for the integration of 2D materials in the fabrication
of printed transistors.

The paper by Bisma Manzoor, focuses on the challenges posed by the increasing
number of devices connecting to the network due to the rise of the Internet of
Things (IoT). With the Fifth Generation (5G) technology being expected to handle
large amounts of data generated by these IoT devices, the paper critiques the
common reliance on two-dimensional (2D) network models. It explores the use of
three-dimensional (3D) geometric modeling, which includes considering the
heights of buildings and devices, for more accurate network modeling in IoT
scenarios. By employing stochastic modeling, the paper investigates the 3D
coverage probability of a dense network in Melbourne's Central Business District
(CBD) and compares the results with traditional 2D simulations. The findings
highlight the significant shift in contact distances when considering the third
dimension, demonstrating that the inclusion of building heights in 3D models
greatly influences the coverage probability and cellular characteristics, which are
not captured by 2D models.

14
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

The paper Guiming Cao, explores the increasing demand for computing power
driven by the emergence of artificial intelligence (AI), the Internet of Things (IoT),
and machine learning (ML). With the need for novel computing primitives,
neuromorphic computing, which mimics brain-like processing by combining
analog computing and data storage at the device level, has garnered significant
attention. The paper specifically focuses on the progress made with synaptic
devices inspired by biological synapses, which are built using 2D materials. These
materials, due to their atomic thickness and reduced screening effects, exhibit
highly tunable physical properties under various stimuli, making them ideal for
synaptic applications. The review provides an in-depth look at the advantages of
using 2D materials and heterostructures in synaptic devices, the various types of
multifunctional 2D synaptic devices developed, and their applications in
neuromorphic computing. Furthermore, it discusses the challenges and future
strategies for improving these devices, offering valuable insights into the design,
preparation, and application of 2D material-based synaptic devices for
neuromorphic computing.

The paper by Akshay Wali, addresses the growing concerns of hardware and
information security within the semiconductor ecosystem, which incurs billions of
dollars in annual losses. It also highlights the critical need for robust information
security solutions for edge devices, which handle vast amounts of data. Traditional
silicon-based security solutions, while prevalent, are found to be inefficient,
vulnerable to machine learning (ML) attacks, and resource-intensive, leading to the
need for innovative alternatives.
The review focuses on the potential of 2D materials, such as graphene and
transition metal dichalcogenides, in providing more effective hardware security
solutions. It explores various 2D-material-based security primitives, including
camouflaging, true random number generation, watermarking, anticounterfeiting,
physically unclonable functions (PUFs), and logic locking of integrated circuits
(ICs). The paper discusses how these 2D materials can be employed to improve the
resilience and reliability of security features against modern ML-based attacks. It
also delves into the role of native defects in 2D materials that can contribute to the
development of high-entropy security primitives.

15
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

Furthermore, the authors address the existing challenges for the large-scale
deployment of 2D materials in integrated circuits, focusing on the obstacles that
need to be overcome for these materials to meet the security needs of the
semiconductor industry. This work emphasizes the importance of advancing 2D-
material-based security technologies to address the evolving threats in hardware
and information security.

The paper by E Prianto, focuses on the development of a custom 3D printer based

on Fused Deposition Modeling (FDM) technology to aid in the education of
Mechatronics Engineering students. The study aims to bridge the gap between
technological advances in Industry 4.0 and the educational environment by creating
a mechanical prototype of a robotic arm, which can be used as a learning medium.
The research follows the ADDIE model (Analysis, Design, Development,
Implementation, and Evaluation) to develop a 3D printer that could be used for
creating robotic arm prototypes. The custom 3D printer, which is available in both
Cartesian and CoreXY types, is designed to support the Mechatronics Engineering
Education Study Program at FT UNY. The study finds that the printer performs
well with an average printing error of less than 2%, making it suitable for
educational purposes where precision and accuracy are essential.
The 3D printer was tested and shown to print robotic arm mechanical components
with minimal error, thus supporting the educational content in mechatronics and
providing students with a hands-on tool to understand and develop robotic systems.
The results highlight the significant advantages of using 3D printing as a learning
tool for designing and building mechanical prototypes, particularly for robotic
applications.

The paper by Kangzhi Liu, introduces a novel method for the rapid preparation of
photonic crystal patterns using microfluidic printing technology. This approach
enables precise manipulation of the photonic crystal pixels in the patterns.
The authors synthesized hybrid microspheres using a combination of poly(styrene-
methyl methacrylate-acrylic acid) and polyamidoamine dendrimers (G2 PAMAM),
conjugated with CdTe/ZnS quantum dots (QDs) via an in situ reaction. The strong
interactions between the dendrimer-modified microspheres help reduce the

16
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

cracking of photonic crystal films and prevent the formation of coffee-ring pixels,
which are typically problematic in such applications.
Using a microfluidic printing device, they were able to fabricate a fluorescent two-
dimensional (2D) code pattern of photonic crystal beads. These beads exhibited
structural colors under daylight and fluorescence under UV light, demonstrating
the ability to create multi-signal 2D codes. The technique has potential applications
in anti-counterfeiting and optoelectronic fields, offering a new avenue for creating
highly functional, visually distinctive patterns that can be used in security and other
high-tech applications.

17
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 3

METHODOLOGY AND ADVANTAGES

3.1 Construction
The construction of an IoT-based 2D printing robot involves assembling a frame
with linear rails to guide the printhead along the X and Y axes.

Stepper motors, controlled by motor drivers and a Raspberry Pi, provide precise
movement for text and graphic printing.

A servo motor is used to lift and lower the pen or printing tool on the Z-axis. Limit
switches ensure boundary detection and prevent overstepping.

3.2 Information Flow

The IoT-based 2D printing robot begins with the user uploading text or graphic
designs via a mobile app or web interface to an IoT server using protocols like
MQTT. The server transmits the data to a Raspberry Pi, which processes it into
motor control commands. These commands drive stepper motors (for X and Y
movements) and a servo motor (for Z-axis control) via motor drivers. Sensors
provide real-time feedback to the Raspberry Pi to ensure precise operation. The
printhead then reproduces the design on a surface, with the user able to monitor the
process remotely through the IoT interface.

3.3 IoT Environment

The IoT environment of an IoT-based 2D printing robot for text and graphics
involves a Raspberry Pi 4 as the central controller, connected to the internet via Wi-
Fi or Ethernet for remote communication. Users send print commands (text or
graphics) to the Raspberry Pi through a web interface or IoT protocol like MQTT
or HTTP. The Raspberry Pi processes these commands, converting them into motor
control signals sent through GPIO pins to stepper motors and a servo motor, which
drive the print head or pen to create the design. External power supplies are used

18
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

for the motors, while the Raspberry Pi handles software tasks using Python and
motor control libraries. Optional cloud integration allows for remote access and
monitoring of the print process.

3.4 Generating G-Code

Users upload an image to Inkscape, where it is converted into vector paths. The
Gcodetools plugin in Inkscape then translates these paths into G-code instructions
for controlling the print head’s movement. Each output figure and quadrant selected
by the user requires a separate G-code file, which is stored on an SD card. The
Raspberry Pi reads these files, processes the selected figure and quadrant, and sends
the appropriate G-code commands to the motor drivers to control the printing
process. This setup allows users to remotely upload and select images for printing,
with the G-code files generated and executed as needed.

Structure of G-code:
a) Startup section:
G28 (return to initial point)
M107 (turn off fan)
M104 T0 S0 (extruder cooling)
M140 S0 (Bed surface cooling)
M84 (engines stop)

b) Development section:
G1 F900 X125.630 Y90.370 E2.23770
G1 X125.630 Y109.630 E3.07847
G1 X74.370 Y109.630 E5.31618
G1 X74.370 Y90.370 E6.15695
G0 F6000 X74.790 Y90.790
G1 F900 X125.210 Y90.790 E8.35798
G1 X125.210 Y109.210 E9.16209
G1 X74.790 Y90.790 E11.36312

19
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

G1 X74.790 Y90.790 E12.16722

G1 F1800 E11.16722
G0 F6000 X80.630 Y96.630

c) Completion section:
G90 (set origin point)
M82 (prepare the extruder)
M106 S0 (wait in fan open position)
M140 S100 (heating bed surface heating to 100c)
M190 S100 (waiting until temperature to 100c)

3.5 Reading and Running G-code

Reading and running G-code for an IoT-based 2D printing robot involves the
Raspberry Pi reading the G-code files stored on an SD card or local storage. The
Raspberry Pi parses the G-code, which contains movement commands (e.g., G0/G1
for positioning) and control commands (e.g., pen up/down, feed rate).
These commands are then converted into signals that control the stepper motors and
servo motors responsible for moving the print head or pen along the X and Y axes.
The system ensures that the print head follows the defined paths and maintains the
correct print state (e.g., pen down to draw).
In an IoT environment, the user can remotely upload G-code files and monitor the
print job via a web interface or mobile app. The Raspberry Pi processes the G-code,
sending the appropriate commands to execute the print job. The system can handle
interruptions and errors, such as pausing or resuming the print job as needed. This
setup allows for precise control of the printing process, with real- time feedback
sent back to the user, enabling remote monitoring and management of the 2D
printing robot.

3.6 Reading G-code off the SD card

Reading G-code off the SD card for an IoT-based 2D printing robot involves the
Raspberry Pi accessing the SD card, where the G-code files are stored. The
Raspberry Pi reads the G-code file, which contains a series of movement and

20
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

control commands, and uses a G-code parser to interpret these instructions. The
parsed commands, such as positioning the print head or controlling the pen, are
then translated into motor control signals to drive the stepper motors for movement
and servo motors for pen control. The Raspberry Pi executes the commands
sequentially, ensuring accurate printing, while providing real-time feedback to the
user through the IoT platform.

3.7 Running G-code

Running G-code on an IoT-based 2D printing robot for text and graphics involves
interpreting and executing the commands in the G-code file to control the robot's
movements and print actions. The process starts when the Raspberry Pi, acting as
the central controller, reads the G-code from the SD card or local storage. Each line
of the G-code file contains instructions for controlling the robot’s movement (e.g.,
G0 for rapid movement, G1 for drawing) and print head actions (e.g., pen
up/down). The Raspberry Pi sequentially processes each command and sends
corresponding signals to the stepper motors to move the print head to the specified
coordinates along the X and Y axes. If the G-code includes actions like turning the
pen on or off, the Raspberry Pi also sends signals to the servo motors that control
the pen.
As the robot follows the G-code commands, it prints the text or graphic by precisely
moving along the defined paths. The Raspberry Pi can also monitor the progress
and send real-time updates or feedback to the user via the IoT platform, ensuring
that the print job is proceeding correctly. The entire process allows the user to
remotely control the print job, with the Raspberry Pi ensuring that all movements
and print actions are executed as per the G-code instructions, resulting in accurate
and detailed 2D prints.

3.8 Advantages

Behavior: The capacity of the IoT-based 2D printing robot to correctly decipher

and carry out printing commands from IoT-enabled devices is the main focus of its
behavior objective. It entails handling real-time modifications like speed changes

21
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

or error detection, transforming text or graphic input into actionable instructions,

and managing precise X and Y axis movements for accurate printing. Furthermore,
a feedback mechanism makes sure the robot updates an IoT dashboard with its
status, progress, and faults, demonstrating its ability to carry out precise and
effective printing jobs in response to remote inputs.

Analysis: The analysis objective of the IoT-based 2D printing robot focuses on

optimizing the processing and execution of printing tasks for enhanced efficiency.
The system evaluates task complexity to adjust printing parameters dynamically
and detects potential issues like resource shortages or system errors. By leveraging
IoT connectivity, it provides insights into operational patterns, enabling predictive
maintenance and resource management for improved performance and reliability.

System management: The system management objective of the IoT- based 2D

printing robot involves real-time monitoring and control of the printing process
through an IoT interface. The system enables remote management, allowing users
to adjust settings, schedule tasks, and receive notifications when an error occurs.
Additionally, it provides diagnostic tools to monitor the health of the robot and
initiate corrective actions, ensuring continuous operation and minimizing
downtime.

Security: The security objective of the IoT-based 2D printing robot focuses on

ensuring secure communication between the robot and the IoT-enabled devices.
This involves implementing encryption and authentication protocols to protect data
transmission and prevent unauthorized access to the system. The robot’s network
interface must be secured against potential cyber threats, such as data breaches or
malware attacks, by using secure communication methods like SSL/TLS and
implementing user access control. Additionally, regular security updates and
vulnerability assessments are performed to safeguard the integrity and
confidentiality of the printing tasks and the system as a whole.

Deployment: The deployment objective of the IoT-based 2D printing robot

involves setting up the system for remote access and operation through an IoT
network. This includes configuring the robot to receive print commands from

22
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

various IoT-enabled devices, such as smartphonesor computers, across a local or

cloud-based network. The deployment ensures the robot can be remotely controlled
for printing tasks, with users able to monitor and manage print jobs, adjust settings,
and troubleshoot issues. The system should be intuitive, flexible, and versatile,
enabling effortless integration and maintenance while ensuring reliable operation
across various environments.

23
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 4
HARDWARE COMPONENTS

4.1 Raspberry Pi

The Raspberry Pi 4 is a powerful single-board computer that serves as the central

processing unit for the IoT-based 2D printer robot. Its advanced features, including
a quad-core ARM Cortex-A72 processor, enhanced GPU capabilities, and up to
4GB of RAM, make it ideal for handling computationally intensive tasks. The
Raspberry Pi 4 supports multiple interfaces, such as USB, HDMI, and GPIO,
allowing seamless integration with the printer's hardware components like stepper
motors, servo motors, and sensors. Its built-in Wi-Fi and Bluetooth capabilities
enable efficient data transfer, ensuring smooth operation of the system.
Additionally, the Raspberry Pi 4 runs firmware and software required for
interpreting G-code commands and orchestrating precise hardware movements
essential for high-quality printing.

24
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

4.2 Stepper motor

A stepper motor is an electromechanical device used to convert electrical pulses

into discrete mechanical movements. Unlike conventional motors, stepper motors
provide precise positional control, making them essential for the X and Y axes of
the 2D printer. The stepper motor operates through sequential energizing of its
internal coils, which results in controlled, incremental movements. This capability
ensures the precise execution of the printing process.

(a) Cross-Section Parallel to Shaft (b) Cross-Section Perpendicular to

Shaft

The resolution of a stepper motor is determined by the number of steps per

revolution. For instance, a motor with 200 steps per revolution achieves a step angle
of 1.8 degrees. This resolution can be further enhanced using micro- stepping, a
technique in which each full step is subdivided into smaller increments. Micro-
stepping allows for smoother motion, reduced vibrations, and increased precision,
which are critical factors in achieving high-quality prints.

Stepper motors typically operate based on a sequence of electrical pulses sent to

their internal coils. The rotor aligns itself with the magnetic field generated by the
energized coils, moving in small, predictable increments. By varying the order and

25
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

duration of the pulses, it is possible to control the motor's speed, direction, and
position. This feature is particularly beneficial for 2D printers, as
it ensures precise movement along the X and Y axes while executing text and
graphic designs.

4.3 Stepper motor driver DRV8825

The DRV8825 is a high-performance stepper motor driver that provides accurate
control over the stepper motor’s movement. It supports micro-stepping, which
allows for finer motor steps and smoother operation. The driver is equipped with
adjustable current control, over-temperature protection, and short-circuit
protection, ensuring the motor operates efficiently and reliably under different
loads.

4.4 Micro-stepping mode

Micro-stepping is a technique that divides each full step of the motor into smaller,
fractional steps. This results in improved resolution and smoother motion. The
DRV8825 driver supports multiple micro-stepping configurations, enabling the 2D
printer robot to achieve greater precision and reduce vibrations during operation.
This mode is particularly critical for producing intricate graphics and text with high
accuracy.

4.5 Servo Motor

A servo motor is a rotary actuator designed to provide precise control of angular
position. In the 2D printer robot, the servo motor is used to control the vertical
movement of the pen or printhead, enabling accurate contact with the printing
surface. The servo motor responds to Pulse Width Modulation (PWM) signals,
allowing for smooth and controlled positioning.

26
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

4.6 Pulse width modulation

Pulse Width Modulation is a technique used to control the position of a servo motor
by varying the width of its input signal pulses. The servo motor interprets these
pulses and adjusts its shaft angle accordingly. In the printer robot, PWM is used to
raise and lower the pen or printhead with precision, ensuring consistent contact
during printing tasks.

27
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

4.7 IoT Service

The IoT service integrates the printer robot with external devices for seamless data
transfer and system automation. While this project does not focus on remote
control, IoT enables the transfer of input files and facilitates automated operation.
The IoT service plays a crucial role in ensuring that the printer receives and
processes design files efficiently.

4.8 Wi-Fi module

The Wi-Fi module, such as ESP8266 or ESP32, provides the system with wireless
communication capabilities. It enables the transfer of design files to the Raspberry
Pi, allowing the printer to process and execute the instructions without requiring
direct physical input. This feature eliminates the dependency on USB or wired
connections for file management.

28
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

4.9 Motor instructions: G-code

Together, the servo motor lifting the pen on and off the paper in the Z-axis and the
stepper motors in the XY-plane enable the Pen Plotter's drawing motion. G- code,
which instructs the motors on when and how quickly to spin, is used to encode the
instructions for this combined motion. In computer numerical control (CNC)
machining for precision production, G-code is a popular format for expressing
motor instructions since it is simple. All of the pathways the Pen Plotter must follow
in order to produce the output figures must be specified when writing the G-code
for this project. Handwriting the G-code is not practical. Handwriting the G-code
is not practical. In chapter 3.5, the process for creating the G-code will be discussed.

4.10 SD – card and reader

The SD card and reader serve as a medium for storing and accessing design files.
In this project, the SD card is used to transfer G-code instructions to the printer
robot. This feature allows the system to operate without continuous external input,
ensuring an uninterrupted printing process. The SD card reader interfaces with the
Raspberry Pi, facilitating easy file management and retrieval.

4.11 Klipper

Klipper is a powerful and flexible open-source firmware designed for 3D printers.

It employs a unique architecture by transferring computationally demanding tasks,
like motion planning and kinematic calculations, to a host device such as a
Raspberry Pi. The microcontroller focuses on executing real-time stepper motor
controls. This design enhances motion precision and increases speed compared to
conventional firmware. Klipper is compatible with advanced kinematic
configurations, multiple microcontroller setups, and supports extensive
customization, making it suitable for various applications. Its primary benefits
include faster printing, smoother motion, and precise tool positioning, making it a
preferred solution in CNC and robotics systems requiring high accuracy

29
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 5

CONSTRUCTION

The construction of an IoT-based 2D printing robot for text and graphics is a complex,
multidisciplinary process that integrates mechanical design, electronics, IoT
communication, and software systems. Below is a detailed, step-by-step explanation of the
construction process:

5.1. MECHANICAL STRUCTURE

The mechanical structure of the robot serves as the foundation for all other components,
ensuring that they are securely housed and can function together smoothly. It consists of
several parts and components:

• FRAME
The frame serves as the skeleton of the robot, providing the necessary structure to hold all
other components in place. It must be rigid enough to prevent any unwanted flexing or
vibrations that could affect the print quality. The frame can be made of materials such as:

Aluminium: A lightweight, durable material commonly used for 3D printers.

Plastic or 3D-printed parts: For custom designs, 3D-printed parts can be used to create a
more cost-effective and lightweight frame. These parts are often created using a 3D printer
and assembled later.
Steel: Used in industrial-level machines where high durability is needed.
The frame typically includes slots and holes for the installation of motors, rails, and the
print surface.

30
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

• AXES AND MOVEMENT

The robot uses multiple axes to move the printhead or pen across the surface. Typically, a
2D Cartesian system is used, with the X and Y axes allowing movement along the
horizontal and vertical directions.

X-Axis: This axis controls the left-to-right movement of the printhead. It’s usually mounted
on a horizontal rail or extrusion.
Y-Axis: This axis controls the front-to-back movement of the printhead. The Y-axis is
typically mounted perpendicular to the X-axis and moves the printhead across the print
area.
Stepper motors control both axes. The motors drive linear rails or rods which allow smooth
motion. These rods provide support for a carriage that holds the printhead.

• Z-AXIS
The Z-axis is being used to control the height of the pen. However, in our case, this is
replaced by the servo motor that controls the lifting and lowering of the pen, as no
traditional Z-axis mechanism is needed. A servo motor is used to control the vertical motion
of the pen (i.e., lifting and lowering it). When the pen is lifted, it is out of contact with the
surface, preventing unnecessary marks. The servo is usually controlled by a microcontroller
(like the Raspberry Pi), which sends commands based on the printing process. When the
pen needs to print, the servo lowers the pen onto the surface.

31
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

• PRINTHEAD/TOOL HOLDER
The printhead (or pen holder) is mounted on the X-Y carriage. This holder is where the
printing tool is mounted. The tool can be a pen, marker, or any other device capable of
drawing or writing. The holder must be adjustable to accommodate various pen sizes and
types.

5.2. ELECTRONICS AND CONTROL SYSTEM

The electronics of the robot control the various components (motors, servo, etc.) and ensure
that the robot moves accurately and performs printing tasks effectively. Key components
include:

• CONTROLLER BOARD (RASPBERRY PI)

The Raspberry Pi is the central controller of the robot. It serves as the brain, processing
commands, receiving inputs, and controlling the motors. The Pi is responsible for:

Running the IoT system (via Wi-Fi or Ethernet) to allow remote control.
Running the necessary software to convert design files into a format that the robot can
understand (such as G-code).
Receiving commands from the user interface (e.g., through a web browser) and interpreting
them into specific movements and actions.
Raspberry Pi models like the Pi 3B or Pi 4 are suitable due to their processing power and
connectivity capabilities. The Raspberry Pi is connected to a motor driver board and servo
control pins.

• MOTOR DRIVERS
The stepper motors (used for the X and Y axes) require motor drivers to control their speed
and movement precisely. Popular motor driver boards include:

DRV8825: Used for controlling stepper motors for stepper motors, known for its higher
current handling capability.

32
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

These motor drivers receive signals from the Raspberry Pi and adjust the motor’s movement
accordingly. The motor driver ensures the motors rotate in precise steps, enabling fine
control of the robot’s movements.

• STEPPER MOTORS
Stepper motors are used to move the printhead along the X and Y axes. These motors are
ideal for applications requiring high precision, as they move in small, precise steps. The
stepper motors are connected to the motor drivers, which control their movement by
sending electrical pulses.

• POWER SUPPLY
The power supply provides the necessary voltage and current to all components. The
Raspberry Pi typically requires 5V, while the stepper motors and servo may require a higher
voltage, usually 12V or 24V. A dedicated power supply for the motors and another for the
Raspberry Pi is often used to ensure stable operation.

• LIMIT SWITCHES
Limit switches are used to detect the end of an axis's travel, helping to establish the home
position of the robot. When the printhead reaches the limit switch, the motor will stop,
preventing damage to the machine. These switches can be installed on both the X and Y
axes.

5.3. COMMUNICATION AND IOT INTEGRATION

One of the key features of this project is its IoT capability, which allows remote control and
monitoring of the robot via the internet. This is achieved through:

• WI-FI OR ETHERNET CONNECTIVITY

The Raspberry Pi is equipped with a Wi-Fi module to enable it to communicate with other
devices over a network. This allows us to send print jobs, monitor the robot’s status, and
control its actions remotely through a web interface.

• WEB INTERFACE/CONTROL PANEL

33
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

The robot can be controlled remotely through a user-friendly web interface, which is hosted
on the Raspberry Pi. This interface may include:

File upload functionality, where we upload .png or other graphic files for printing.
A real-time view of the robot’s progress and control of its actions (e.g., start, stop, pause).
Calibration settings and other configuration tools.
Software such as Mainsail or a custom web application could be used to facilitate this
control. This interface can be accessed via a browser on any device connected to the same
network or over the internet if configured.

• FILE CONVERSION (G-CODE GENERATION)

The design files, typically in SVG or another standard format, need to be converted into G-
code, which is the set of instructions that the robot uses to perform the printing task. The
conversion is handled by software running on the Raspberry Pi or a computer connected to
the Pi. The G-code controls the movement of the printhead, the speed, the pen lifting, and
the drawing path.

5.4 SOFTWARE SYSTEMS

The software is crucial for transforming user inputs (design files) into actionable commands
for the robot. This includes:

• FIRMWARE
Firmware is the low-level software that directly controls the hardware. On the Raspberry Pi,
the firmware would:

o Interpret G-code and convert it into stepper motor commands.

o Control the servo to lift or lower the pen at appropriate times.
o Interface with the web control panel for user input.

• G-CODE GENERATION
Once uploaded a design file, software (Inkscape) can be used to convert the design into G-
code. This G-code specifies the path for the printhead, the lifting and lowering of the pen,
the speed of drawing, and the start/stop points of the printing.

34
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

• CONTROL SOFTWARE
The software running on the Raspberry Pi controls the execution of the G-code. It sends
signals to the motor drivers and servo to ensure the robot performs the printing accurately.
The software may include motion control algorithms, error handling, and calibration
features.

5.5 TESTING AND CALIBRATION

Before the robot can start printing designs, it needs to be calibrated. This process ensures
that the X and Y axes are correctly aligned and that the pen lifts and lowers properly.

• CALIBRATION
Home Position: The robot must be calibrated to ensure that its printhead starts from a
known position, typically the top-left corner of the print area.
Movement Testing: Test moves are performed to verify that the robot moves smoothly
along the X and Y axes. Adjustments are made to ensure no misalignment or slippage of the
stepper motors.
Pen Lift Test: Ensure that the servo lifts and lowers the pen at the correct times, especially
when moving between drawing positions.
• Test Prints
Once the robot has been calibrated, test prints are run using simple shapes or text. This
helps identify any potential issues with movement accuracy, pen control, or file conversion.
Adjustments are made to ensure the quality of the print is as expected.

35
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 6

DISCUSSION

The development and implementation of an IoT-based 2D printing robot for text

and graphics mark a significant step in integrating automation with remote
operability. The project aimed to design a system capable of translating user inputs
from a remote interface into precise printing of text and graphics on a 2D surface.
The results obtained from the experimental investigation provide
valuable insights into the system’s capabilities, performance metrics, and potential
improvements.

Early work on 2D printing

Initially, the goal of the 2D printer project was to design a device capable of
producing high-quality prints for various applications, including graphics and text.
Early work focused on developing the core mechanics of the printer, particularly
the motion control system and the printing head. The goal was to achieve precise,
accurate movement to ensure high-quality outputs.
During the initial testing phase, it became evident that the quality of the prints was
significantly lower than expected. This issue stemmed from several key factors,
including the precision of the printing mechanism and the quality of the printing
medium. The size of the printed characters and graphics was limited by the
resolution of the system, which was insufficient for detailed images on standard-
sized paper. Additionally, the friction between the printing head and the surface it
was printing on led to inconsistent print quality, with some prints being too faint or
overly smudged.
To address these issues, adjustments were made to the mechanics of the printer. The
printing head was redesigned to ensure smoother movement across the paper, and
improvements were made to reduce friction and increase the rigidity of the system.
After these modifications, the print quality improved, but
challenges remained in terms of achieving the desired resolution for fine details. At
this stage, it became clear that to fully realize the potential of the 2D printer,

36
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

additional components, such as a more powerful microcontroller (MCU), would be

needed to handle the increased complexity of the system.

The addition of an IoT component was also considered, allowing users to control
the printer remotely and monitor its status. However, the limited number of digital
pins available on the current MCU made it difficult to implement IoT features
effectively, requiring the integration of a second MCU to manage these tasks.
In light of these challenges, the focus of the project shifted toward improving print
quality and achieving higher resolutions for larger prints, while also exploring how
IoT functionality could influence the overall design and user experience of the 2D
printer.

The Effects of IoT

The integration of IoT into the 2D printing robot for text and graphics offers both
advantages and challenges that impact the functionality, usability, and overall
design of the printer. The IoT-enabled 2D printing robot provides flexibility and
enhanced control but also introduces complexities that affect the system’s
operation.

➢ User-Friendly Interface
• Effect: With IoT, the 2D printer can interface with a dashboard GUI (Graphical
User Interface) that simplifies control and monitoring. The GUI can provide real-
time feedback, display print progress, and allow for configuration adjustments,
making it more accessible than traditional G- code sender programs.
• Benefit: This offers a more intuitive and visually-oriented method of controlling
the printer, reducing the learning curve for new users and providing better usability
for those unfamiliar with code-based control.

➢ Dependence on Preloaded Files

• Effect: In an IoT-enabled setup, the 2D printer can only execute pre- uploaded files
stored on a connected SD card or other storage medium. Users must upload print

37
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

files in advance, as opposed to being able to send new G-code instructions on-the-
fly via a computer.
• Downside: This process makes it more cumbersome to change print jobs, especially
for dynamic or real-time printing requirements. Unlike using a computer directly
with G-code sender software, where users can quickly modify or upload files, the
IoT setup requires more preparation and limits the flexibility of file management.

➢ Increased Hardware Complexity

• Effect: To support IoT functionality, the 2D printer often requires additional

hardware components. In particular, the printer may require multiple MCUs
(Microcontroller Units) to handle both the IoT communication and the execution
of G-code commands. One MCU might handle user inputs and communication with
the IoT system, while another is responsible for controlling the mechanical aspects
of the printer, such as motors and sensors.

• Downside: The addition of extra MCUs increases the technical complexity of the
system. This requires more sophisticated software to ensure proper communication
and coordination between the MCUs, leading to higher development and
maintenance costs.

➢ Network Connectivity and Configuration Challenges

• Effect: IoT integration relies on network connectivity, typically through Wi-Fi.

Setting up and configuring the network involves uploading credentials through
development environments like Arduino IDE, but lacks a user-friendly GUI for
easy network reconfiguration.
• Downside: This can be a hassle for users who need to connect the printer to a
different network or troubleshoot connection issues, as the process is not as
straightforward as a dedicated interface for network management.

➢ Limitations on Output Flexibility

• Effect: While IoT provides a convenient means of controlling the printer remotely,
it also limits the printer's outputs to the pre-installed files and configurations. In a

38
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

traditional setup where G-code is sent directly from a computer, users have the
flexibility to modify or generate new G-code files on the fly.
• Downside: In an IoT setup, users are restricted to printing the files already loaded
onto the printer, which reduces flexibility and spontaneity in the printing process.
This can be problematic for use cases that require frequent changes in print content.

➢ Scalability and Integration with Other Systems

• Effect: IoT allows the 2D printer to integrate with other devices or systems within
a smart environment. For example, it can be linked to cloud-based services for
storing and managing print jobs, or integrated with inventory management systems
to track supplies.
• Benefit: This enhances the scalability and automation of the printing process. Users
can connect the printer to a broader network of devices, streamlining workflows
and improving overall efficiency, especially in commercial or industrial settings.

39
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

CHAPTER 7

CONCLUSION

The development of an IoT-based 2D printing robot for text and graphics has
proven to be an efficient solution for applications requiring lightweight, flexible,
and remotely accessible printing systems. The integration of Raspberry Pi as the
central controller allowed seamless communication between the hardware
components and the IoT interface, enabling real-time control and monitoring of the
robot's operations. The system effectively translated user inputs, such as text and
graphical designs, into G-code commands, which were then executed with
precision by the robotic mechanism.

The robot demonstrated reliable performance in printing both text and graphics,
achieving high accuracy in positioning and consistency in line quality. The ability
to remotely operate and monitor the system via an IoT platform significantly
enhanced user convenience and flexibility, making it suitable for a variety of use
cases, including education, prototyping, and small-scale production. The modular
design and use of open-source software and hardware components ensure
scalability and ease of customization for future enhancements.

Despite its successes, the project encountered challenges such as minor

inaccuracies in printing finer details, slight delays in IoT communication under
high network traffic, and mechanical vibrations affecting the print quality. These
issues were addressed through hardware optimizations, improved communication
protocols, and calibration of the robotic system. However, further improvements
are recommended to enhance the resolution, increase the speed of operation, and
integrate additional features such as multi-color printing or cloud-based design
storage.
In conclusion, the IoT-based 2D printing robot showcases the potential of
combining IoT technology with robotics to create innovative and accessible
solutions. Its success lays the foundation for future advancements in smart,
automated printing systems, contributing to the growing field of IoT-enabled
devices. This project not only highlights the capabilities of Raspberry Pi in

40
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

managing IoT-based applications but also underscores the feasibility of

implementing low-cost and resource-efficient systems for real-world applications.

Scope for Future work

• Improvement in Print Resolution and Accuracy:

Future iterations of the robot can focus on refining the mechanical design and
enhancing stepper motor calibration to achieve higher print resolution and greater
accuracy in reproducing complex graphics and fine details. Incorporating advanced
motion control algorithms and feedback mechanisms, such as encoders, can further
reduce positional errors.

• Multi-Color Printing Capability:

Introducing multi-color printing functionality by integrating a color-switching

mechanism or additional printing heads would significantly expand the system's
application. This can be achieved by implementing servo-controlled mechanisms
to handle multiple pens or a modular design that supports color cartridges.

• Speed Optimization:

The system’s operational speed can be optimized by upgrading the motor drivers,
utilizing faster processing units like Raspberry Pi 4, and implementing more
efficient algorithms for G-code parsing and execution. This would reduce the time
required for complex designs and improve overall productivity.

• Cloud Integration and Storage:

Incorporating cloud-based storage and management for design templates can

41
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

provide users with the ability to upload, store, and retrieve designs from anywhere.
This would also enable real-time collaboration and sharing of designs between
multiple users.

• Predictive Maintenance and Diagnostics:

Adding IoT-enabled sensors to monitor the system's health, such as motor

temperature, voltage levels, and mechanical wear, can enable predictive
maintenance. Alerts for potential issues can minimize downtime and extend the
system’s lifespan.

• Wireless Connectivity Enhancements:

To address occasional delays in IoT communication, future work can explore the
integration of advanced wireless protocols like Wi-Fi 6 or 5G to ensure faster and
more reliable data transmission, particularly in high-traffic environments.

• Support for Larger and More Complex Prints:

The system can be scaled to support larger print areas and more complex graphics
by redesigning the frame and increasing the range of the X and Y axes. This would
make the system suitable for industrial applications and large-format printing tasks.

• Machine Learning for Adaptive Control:

Implementing machine learning algorithms for adaptive control can allow the robot
to automatically adjust settings, such as speed and pressure, based on the material
and design complexity. This would improve performance and reduce the need for
manual tuning.

42
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

• User-Friendly Interface:

Enhancements to the IoT interface, such as adding a graphical user interface (GUI)
for design customization, font selection, and live preview of print outputs, would
make the system more accessible and user-friendly for non-technical users.

• Energy Efficiency Improvements:

Future work can explore ways to make the system more energy-
efficient by incorporating low-power components and optimizing the
software to reduce unnecessary processing overhead.

• Integration with Other IoT Systems:

The printing robot can be integrated with other IoT-enabled devices to create a
more interconnected system. For instance, it could receive designs directly from a
smart device or work as part of an automated assembly line in a manufacturing
environment.

43
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

REFERENCES

1. Bouteraa, Y., Ben Abdallah, I., Alnowaiser, K., Islam, M.R., Ibrahim, A., & Gebali, F.,
"Design and Development of a Smart IoT-Based Robotic Solution for Wrist
Rehabilitation," IEEE Transactions on Neural Systems and Rehabilitation Engineering,
vol. 26, no. 9, pp. 1825-1836, September 2018.
2. Huang, M., & Zhao, N., "Cloud-Based Portable Inkjet IoT Printer," presented at the
2019 4th International Conference on Communication and Information Systems
(ICCIS), published in IEEE Access, 2020.
3. Raghuram, A.P., Mortlock, J.M., Bromley, S.L., & Cornish, S.L., "Development of a
Motorized Rotation Mount for Optical Beam Path Switching Within 20 ms Using
Polarization Control," Review of Scientific Instruments, vol. 94, no. 6, article 063201,
2023.
4. Gandhi, H.P., & Verma, P.K., "Path Planning and Obstacle Avoidance Scheme for
Autonomous Robots Using Raspberry Pi," published in ResearchGate, December 2020.
5. Chakraborty, S., Singh, S.K., & Kumar, K., "Facial Biometric System for Recognition
Using Extended LGHP Algorithm on Raspberry Pi," IEEE Sensors Journal, vol. 20,
no. 14, pp. 7981-7989, July 15, 2020.
6. Simon, J., & Gogolák, L., "Development of an IoT-based 3D Printed Mobile Robot
Platform for Training of Mechatronics Engineering Students," Analecta Technica
Szegedinensia, vol. 18, no. 1, pp. 18-30, May 2024.
7. Kavitha, A., "IoT Driven Servo Motor Control on Raspberry Pi 3B," International
Journal of Engineering Research & Technology (IJERT), NCAAIET – 2024.
8. Wadhwa, R.R., & Dutta, P.S., "A Study of Stepper Motors for Performance
Improvement of CNC Machines," Advanced Research in Electrical and Electronic
Engineering, vol. 4, no. 4, pp. 240-244, July-September 2017.
9. Liu, Y., Chen, J., Bose, L., Dudek, P., & Mayol-Cuevas, W., "Direct Servo Control
from In-Sensor CNN Inference with A Pixel Processor Array," arXiv:2106.07561v1
[cs.CV], 26 May 2021.
10. Mol T. V., B., "A Study on Raspberry Pi, Arduino, and IoT with Its Application in E-
Controlling UPS," Journal of Electrical Systems, vol. 20, no. 2, 2024.

44
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

11. Sai, T., Aditya, B., Reddy, A.M., & Srinivasulu, Y., "Real-Time Object Detection
Using Raspberry Pi," International Journal for Research in Applied Science and
Engineering Technology, vol. 11, no. 1, pp. 123-130, January 2023.
12. Iqbal, F., Ahmed, S., Amin, F., Qayyum, S., & Ullah, F., "Integrating BIM–IoT and
Autonomous Mobile Robots for Construction Site Layout Printing," Buildings, vol. 13,
no. 9, article 2212, August 2023.
13. Kareemullah, H., Najumnissa, D., Shajahan, M.S.M., Jayram, M.A., Mohan, V., &
Sheerin, S.A., "Robotic Arm Controlled Using IoT Application," Computers and
Electrical Engineering, vol. 105, article 108539, January 2023.
14. Xiang, H., Chien, Y.-C., Shi, Y., & Ang, K.-W., "Application of 2D Materials in
Hardware Security for Internet-of-Things: Progress and Perspective," Small Structures,
first published on 25 June 2022.
15. Conti, S., Calabrese, G., Parvez, K., Pimpolari, L., Pieri, F., Iannaccone, G., Casiraghi,
C., & Gianluca, "Printed Transistors Made of 2D Material-Based Inks," Nature Reviews
Materials, vol. 8, pp. 651-667, 2023.

45
IOT BASED 2D PRINTING ROBOT FOR TEXT AND GRAPHICS

APPENDIX

46