Seeing all of the YouTube videos of robotic arms that write on dry-erase boards I knew I'd have to a make one of these my next project. Since I’m really into cars I thought, what better approach than a car-like robot that writes on paper as it travels? This project is about 50% 3D-printing/mechanical and about 50% electronics/software. I've been an electronic design engineer for 35 years, but I only got into 3D printing about a year ago. I love projects that combine both.
My basic concept is that the X-axis pen motion will be the vehicle's motion forward or backward. The Y-axis travel will be provided by a linear servo motor. The Z-axis is the pen height, driven by the small blue servo motor through the 3D-printed arm with a clevis at each end: Down = tip touching the paper to write; Up = tip lifted slightly from the paper; Lift = pen lifted into a park position which allows room for the pen cap to be put back on.
|Overall Assembly Parts List|
|InkBot PCB (3.3" x 3.0" double sided), assembled, see PCB parts list in full instructions|
|Wiring Harness (see document " InkBot Chassis Wiring Diagram.pdf" in full instructions)
including various female .1" sp. connectors to match all PCB headers
|Bluetooth Module JY-MCU from dx.com or other source|
|Small Servo for Z-axis|
|Large Servo for Y-axis Futaba S3003 with EMS Linear Servo conversion kit installed|
|Power Switch, mounts in chassis|
|Battery Pack (holds 4 AA batteries)|
|Easy Driver stepper motor driver buildd, based on Allegro A3967|
|Stepper Motor NEMA11 Bipolar Dual-shaft 1.8deg/step|
|3D printed parts, 13 pieces / 11 designs, see SketchUp files including in full instructions|
|.062" fiberglass sheet, as required, see outline drawings in full instructions|
|Wheels / axel, see description in main write-up above|
Various sheet metal & machine screws,
Click the image below for a slideshow of the build instructions.
And click here to download the full build instructions for InkBot along with complete schematics and diagrams, firmware, and 3D printer design files.
I started development by shopping for a stepper motor with dual shafts. Given that, I could just put wheels directly on the shafts and take advantage of the fact that I only want the robot to go forward and backward, as straight as possible. I based it all on the geometry of a 32 x 32 line-segment character font, approx. 0.65 square inch, with the X-axis figure inclusive of the space between characters.
I calculated the wheel diameter to make each of the 1.8˚ steps draw a very short line in the X-axis, 1/32 of the allowed character width. The wheel diameter in turn established the limit on the stepper motor size, which led me to the NEMA 11 form factor. With a 1.1 square inch stepper motor mounted directly to .062-inch fiberglass sheet, using the target wheel size, there would still be (a very small amount of) ground clearance.
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[All images courtesy Kerry Erendson]
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