Design and building of pen plotter robot based on the developed open source hardware and software

This paper provides the design and construction of an inexpensive Arduino-based 2D pen plotter robot, capable of drawing and writing on solid surfaces. The robot utilizes Open-source control software and hardware, and the Arduino UNO microcontroller is in control of it. The plotter robot’s movement is based on the concept of "Computer Numerical Control", having a working area of 210 mm x 279 mm. The robot can accept input images from a computer program or camera, which are converted to G-code using Inkscape software. A Simulink model of the stepper motor’s transfer function was developed, representing the hybrid stepper motor transfer function acquired via physical derivation, linearization, and transformation. The model was validated by simulating stepper motor-driven XY plotter, and the results show that the robot can draw complex shapes and patterns with a high degree of precision and accuracy. The proposed plotter robot offers a cost-effective and efficient solution for artists, designers, and manufacturers, and has potential applications in various fields such as art, design, and education.