Development of Arduino Controlled Writing Machine

CHAPTER 1

INTRODUCTION

The technologies like automatic speech writing machine, speech to text output,
printers, scanners, etc. But the basic problem is, it only writes only those fonts which the
computer already had. That is Roman, Calibri, Arial, Impact, Georgia, etc. People want a
machine which can write the full matter on a page by the ink of pen in our own personal
hand writing. By using the concepts like CNC machines, wooden CNCs which make the
design on wood by giving accurate feed to the driller. Similarly, It can be used in this
Technology to make a machine for writing purpose also.

In the present scenario education system is handled through blackboard

presentation or by power point presentation, Blackboard presentation is the process held
from the ancient days which is defined as boring by the students. In order to improve
power point presentation is used which is more interesting and easy to understand
than black board teaching. The major drawback is same process of teaching leads to
boring environment for neither teacher nor student. This system leads to reduce the
interest of a student’s observing capacity. There are many areas in human life which
require write the matter by ink on a paper in their own handwriting. For example
Departments like Administration, Judicial, Municipal, Police, etc. having clerks for
writing the matter manually. For eliminating this heavy work, This Project going to
introduce an automatic writing machine.

Education system plays a major role in describing the innovative ideas to the
students. In recent years, the definition of robot is generally used to mean an unmanned
system or automation, as often seen in industrial applications. Generally, a robot is used
to be shaped like humans and referred to as machines and electric systems were capable
of performing similar actions as humans. With the technological advancements in
robotics field, efforts are being taken in researching, designing and development of
robots for different practical purposes. Robots designed to assist human in their work
and reduced human efforts. Many research companies are developing writing machine
for performing basic functions like human arm. Among different functions, writing
skills is one of function. The proposed writing machine can be used by physically
challenged person for writing operation.

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 Development of Arduino Controlled Writing Machine

Writing machine is based on Arduino controller and CNC shield. CNC is

computer numerical control machine. Using Benbox software program pre-
defining Function Associated with the movement on machine axes. These are giving the
Direction to move the pen in X, Y, Z directions. Pen can be changed by tools of drilling,
laser cutting tool, milling it can be worked, if it is made in large size. The aim is to make
an Arduino Controlled writing machine which is capable to write any documents. In this
project 2 stepper motors with lead screw in Cartesian coordinate X, Y, Z directions are
used. Stepper motor is convert digital pulse into lead screw rotations. Stepper drivers are
used to give command to the system. The main aim is to fabricate a writing machine to
write or draw an object with using software.

The objective of this project work is to fabricate the Arduino based writing
machine using open source software for control the machine. Basically the machine
works with 3 axes stepper motors [X, Y, Z axes]; there are 3 stepper motors that are
controlled by shield for movement. The left and right movement controlled by X axis
stepper motor, front-back movement controlled by Y axis stepper motor and the pen is
up down that is controlled by Z axis. The lower cost is achieved by incorporating
features of PC with Arduino UNO controller to drive the stepper motor in X, Y, &Z axis.

This machine can be used very easily for writing, it just needs to give the input
text and for drawing, it needs to give the measurement as the input.

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 Development of Arduino Controlled Writing Machine

CHAPTER 2

LITERATURE REVIEW

This chapter includes a brief description of the important contributions

made by different authors about the Arduino Controlled writing machine. In this
survey, It has analysed or studied a few research papers related to this project and
written the list of all the papers in the survey, i.e., which technology has been used,
which processor board is used. Also the basic working principle of all the papers has
been listed.

M. Aditi et al. [1] made study on the automated writing and drawing machine.
Which is use to write with speech recognition system for physical handicap person. In
this machine robotic arm is programmed to write down words which are pronounced in
the microphone. They use Arduino with CNC machine; it can draw most of basic shapes
& texts. That is faster and more accurate than humans.

Sonali Dhanwade et al. [2] made research on developing a writing machine which
helps the students or office workers to write. It is used to write the characters, words
from document with the help of hardware and software. They use UNO Arduino,
servo motor, CNC shield, motor driver and Benbox software, stepper motors (taken
from old DVD writers). The main advantage of this proposed system is to just
recognize the file from computer which wants to write on paper using this writer
machine without any hassle. It will reduce the workload as well as your time. They focus
on reducing the size of the hardware so the total system will become small.

Saif Aldeen Saad Obayes et al. [3] made research on Prototype Wireless
Controller System based on Raspberry Pi and Arduino for Engraving Machine.
Wireless controller system provided a simple NC (Numerical Control) machine
network technology. This machine is used to write on different things by pen. Like
on paper, metal, plastic etc. The work area is 200mm in X axis, 200mm in Y axis &
70mm in Z axis. GRBL is software for controlling the motion of machines that make
things. Benbox software is used to convert the image into g-code format.

Infantanto Abishek.J et al. [4] made research Mini CNC Engraver Machine which
is similar to CNC milling machine. It reduces worksheet residue & frequency of errors.

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 Development of Arduino Controlled Writing Machine

They have 3 dimensional (X, Y&Z axis) working areas of 230mm x 290mm. This
machine can engrave on plastic, steel, aluminium, wood etc. It gives the better
precision accuracy at competitive development cost. With the help of G code, it gives
better productivity & reduces the work load also it gives the information about the
positions of all the stepper motor on the computer screen so it can easily start or stop the
system motor whenever it want.

R. Balathangam et al. [5] Made have done design and development of

Arduino controlled writing robot. The main objective of this machine is to develop
writing robot by speech recognition technique. In this writing robot visual basic
software is used and for speech recognition, Arduino microcontroller has been used.
First, user is to feed message via mic that will be filtered by amplifier and low pass filter.
Then the analog signal given to the personal computer with Microsoft visual basic studio.
Using speech to text conversion algorithm analog signal converted into text depend on
the user’s input. Then the converted text will send to the Arduino controller using serial
cable. Servo motor used to control the angular movement of robot hand. It makes
writing on a paper using robot hand fixed with pen.

Udit Pandey et al. [6] work likewise fabrication unit, demonstrating the hardware
required for the CNC plotter at low cost in real time control of Z axis control using a
stepper motor takes more time than servo motor to move the drawing pen up and down.

Dinesh Awari et al. [7] describes a small scale three axis CNC milling
machine’s component discuss and analyzed under very limited budget. Puja Girhe et al.
[8] paper deals with the design of automatic mini CNC machine for PCB drawing and
drilling operation. Kajal J.Madekar, Kranti R. Nanaware., Pooja, R. Phadtare., Vikas S.
Mane., focus the Design and drill PCB based on low cost CNC system and the lower cost
is achieved by incorporating features of PC with ATMEGA 328 controller in an arduino
microcontroller.

Linyan Liu et al. [8] (2014) presents a knowledge-centric process management

framework for the CNC machine tool design and development (D&D) with the
integration of process and knowledge. Requirements for the framework are generated
based primarily on the nature of the machine tool design practice. The proposed
framework consists of process integration model, process simulation, process execution
and knowledge modules. Each of these modules is elaborated to support the

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knowledge-centric machine tool development process management. The prototype

development is also presented by the author. Results of this study facilitate the
knowledge integration in CNC machine tool D&D, and thus increase machine tool
development capability, reduce development cycle time, and ultimately speed up the
effectiveness and ensure the excellent machine tool development. Finally the study has
outlined a framework within which designers are encouraged to participate in the
machine tool development efficiently and conveniently, for the benefit of each
individual and the company. Compared with the existing references, the proposed
framework of knowledge- centric CNC machine tool D&D process management includes
the following results:

Based primarily on the nature of the machine tool design practice, requirements
for the knowledge-centric frame-work with integration of process and knowledge are
analysed in consideration of the design objects, the D&D process, the knowledge-centric
demand and its implementing and monitoring demand. Then, the framework of
knowledge-centric CNC machine tool D&D process management used in the CNC
machine tool industry is proposed, which includes the modelling, simulation and its
execution and takes the knowledge into consideration. The design process of KVC1050N
Vertical machining centre is also studied as an example to demonstrate the feasibility
and availability of the proposed framework. The results of this study significantly
contribute to efforts to achieve knowledge and process integration in CNC machine tool
D&D. In a word, on-going efforts are being taken to make the framework more
practical in the industrial application. Thus, this solution can serve machine tool
companies in this important industry sector by increasing machine tool development
capabilities, improving work efficiency and ultimately reducing development cycle time
and costs.

Venkata Krishna pabolu et al. [9] (2010) discuss the design and
implementation of low cost three dimensional computerised numerical control system
(CNC) for industrial application. In this project prototyping an Embedded CNC machine
was created Detail description of different modules such as software development,
Electronic/Electrical development, along with technical details of their implementation
have been given.

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 Development of Arduino Controlled Writing Machine

Dr.J.B. Jayachandraiah et al. [10] (2014) provide the idea to develop the low cost
Router system which is capable of 3 axes simultaneous interpolated. The low cost is
prototyping is achieved by incorporating the features of standard PC interface
w i t h microcontroller base CNC system in an Arduino based embedded system.
With limited budget the author conclude that small machine tools to fabricate small parts
can provide flexibility and efficiency in manufacturing approach and reduce the capital
cost, which is beneficial for small business owners.

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 Development of Arduino Controlled Writing Machine

CHAPTER 3

PROJECT PLANNING

3.1 STEP 1: MATERIALS AND COMPONENTS

Buying all the necessary materials before starting of any project is important.

Figure 3.1 Materials

3.1.1 Components Used

 Neman 17 Stepper motor ×2
 Arduino Uno
 CNC shield
 Lead screw pitch 2mm, diameter 8mm
 Ball bearing 8mm inner diameter, 22mm external diameter
 Steel shaft
 Servo motor
 A4988 Stepper driver ×2
 Linear slider block inner diameter 8mm
 Flexible coupling
 Plywood
 Nuts, Screws, Some wires

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 Development of Arduino Controlled Writing Machine

3.1.1.1 Arduino UNO

Arduino was received the command or data from the computer and with the help
of USB cable. It is mounted on CNC shield; it will be transfer data from Arduino to CNC
shield with using stepper driver. Arduino UNO is a microcontroller board, it contains
everything needed to support the microcontroller, simply connect it to a computer with a
USB cable and a power source. It controls the position of stepper motor with help of a
program. It is open source platform based on easy to use hardware and software. It have
digital and analog input/output pins which can interface into various expansion board and
other circuits and microcontroller with complementary components that helps in
programming and incorporation into other circuits. Current supplied 5 volts with USB
cable.

Figure 3.2 Arduino UNO

3.1.1.2 Motor Driver (A4988)

The input of motor driver is provided from CNC Shield V3. The motor driver
circuit is placed on CNC Shield circuit. Motor driver circuit (A4988) is a 28pin circuit. Its
maximum supply voltage is 35v & maximum current rating is 2A. It takes three inputs
from microcontroller. 1st input is the supply voltage given to enable (EN) pin to energize
the IC, and 2nd & 3rd input decides the direction of rotation of motor. In this project,
there are 2 motor driver circuit used, one for each axis.

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Figure 3.3 Motor Driver

3.1.1.3 Servo Motor

A servo motor is an entirely different story the function of the servo is to receive
a control signal that represents a desired output position of the servo shift and apply
power to its DC motor until its shaft turns to that position.

Figure 3.4 Servo Motor

3.1.1.4 Stepper Motors

Stepper can be converted digital pulse in to a movement of pen with respect to

axes X, Y, Z direction. A stepper motor is a brushless motor that divides a full rotation
into a number of equal steps, the stepper motor is known by its property to convert a
number of impulses into a defined increment in the shaft position. Each pulses move the

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 Development of Arduino Controlled Writing Machine

shaft through a fixed angle. In this 3 stepper motors with lead screw are used. Motor
output will be in the form of rotation of lead screw.

Specification

 Step angle: 1.8 degree

 Rated Voltage: 12V DC
 Current (A): 1.2A at 4V
 No. of Phases: 4

Figure 3.5 Stepper Motors

3.1.1.5 CNC shield

CNC Shield V3 can be used as drive expansion board for writing machine, 3D
printer and other devices. There’re 4 slots in the board for stepper motor driver modules,
can drive 4 stepper motors. It has an input voltage of 8-36v.

Figure 3.6 CNC shield

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Specifications

CNC Expansion Board Version V3.0

 Voltage: DC 12V to 36V

 2pcs A4988 Driver
 Automatic current attenuation mode Detection\Select
 2pcs Heat Sinks
 Warning: Connecting or disconnecting stepping motor while driver is powered on
might damage driver.

3.1.1.6 Flexible Coupling

A Coupling is a device used to connect two shafts together at their ends for the
purpose of transmitting power. The primary purpose of coupling is to join two pieces of
rotating equipment while permitting some degree of misalignment or end movement or
both.

Specifications:

 Type: Flexible Shaft Coupling

 Material: Aluminium
 Inner Hole Size: 5mm×8mm
 Outside Diameter: 19mm
 Length: 25mm
 Main dimension: d1=5mm, d2=8mm, D=19mm, L=25mm

Figure 3.7 Flexible Coupling

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3.1.1.7 Lead Screw

A lead screw, sometimes called a power screw or translation screw is used

to translate turning motion into liner motion. Lead screw can be manufactured by
rolling, cutting, or grinding the threads.

Specifications:

 Material: 304 stainless steel

 Screw diameter: 8mm
 Length: 300mm
 Screw spacing: 2mm
 Lead of thread: 8mm

Figure 3.8 Lead Screw

3.1.1.8 Ball Bearings

Specifications:

 Inner diameter: 8mm

 Outer diameter: 22mm

Figure 3.9 Ball Bearing

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3.1.1.9 Slider Block

Specifications:

 Inner diameter: 8mm, 8mm bore

 Overall size: 30×34×22mm(L×W×H)

Figure 3.10 Slider Block

3.2 STEP 2: THE X AXIS

To build the base cut several wooden boards which have made holes and blind
holes. These tables form the support of the machine. The screwed steel rods operate
as a worm drive. The blind holes serve as a stop for the steel bars that act as guides for
the x-axis, in the middle, Attach the screwed steel bar, that when turning, generates
displacement in the x-axis. Above, it is used wooden board greater weight and thickness
for stability

Figure 3.11 the X axis

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 Development of Arduino Controlled Writing Machine

3.3 STEP 3: THE Y AXIS

Bridge construction (y-axis) is very similar to that of the base, but this is
supported on a table that is moved in the x-axis by a fixed nut below table.

Figure 3.12: The Y axis

3.4 STEP 4: THE Z AXIS

And finally the z-axis, similarly fact that the other two axes and carries a support
for a writing machine. To test use a pen to move the axis.

Figure 14: The Z axis

3.5 STEP 5: PAPER BASE

Now it has to attach a wood surface on Y axis. On this put the paper piece to print
the texts.

Figure 3.14: Paper Base

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3.6 STEP 6: THE CIRCUIT

It's time to build the circuit and test stepper motors (X and Y axis). Steppers
motors wiring is something that need patient. On next step need to find a 'testing' code
for x and y axis. If steppers doesn't work properly must find correct working
combination by changing the cables between them.

Figure 3.15: Circuit diagram

3.7 STEP 7: TESTING X AND Y AXIS MOVEMENT

Here is the X and Y axis testing code embedded using code bender For X axis,
For Y axis, If it see any movement here that means that the stepper motors wiring is
correct, If don't, try to change the cables.

Figure 3.16: CNC Shield Connection

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 Development of Arduino Controlled Writing Machine

CHAPTER 4

METHODOLOGY

Supply the current in Arduino with USB Data cable to transfer Data from
Computer to Arduino Board, Here it used 2 Stepper Drivers to supply the program in
Sequence to the stepper motors. Arduino will be mounted on CNC shield. CNC shield
will be distributing the Current in the command of Arduino. CNC shield will be
converting the command of programming in digital pulse by Stepper motor. In X
direction Stepper motor will be move left and Right ,Y direction stepper motor will be
move in front and back direction, Z direction Stepper motor will be move in Up and
down. It made much difficult design via using this machine. The accuracy of this
machines result is very high.

This system can be divided in to three modules.

 Mechanical system
 Electrical system
 Software system

4.1 MECHANICAL SYSTEM

The mechanical system is assembled in such a way that the 3-axis

movement is achieved by using the linear bearings and guide rods. Stepper motors are
mounted to the each axis which is the source of motion acted according to the control
signal generated from the electronics circuit. Each stepper motor is coupled to the screw
rod which carries nut with the help of coupling bush. This screw rod and nut arrangement
is responsible for converting the rotational motion of the stepper motor to linear motion.
The linear motion of each axis is carried away smoothly by the linear bearing and guide
rod assembly connected to the each axis which is capable of load carriers and allows
linear motion in each axis. The controlled motion in each axis is achieved directly by
controlling the rotation of the stepper motor. The speed of the motion in each axis can
also be controlled by direct control of the speed of the stepper motor by giving required
control signals.

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4.2 ELECTRICAL SYSTEM

Electronics system comprises of:

 Power supply
 Microcontroller board
 Stepper motor driver board

4.2.1 Power Supply

Power supply is heart of the CNC system which converts the AC voltage to
DC voltage supplies required voltages to the corresponding devices. Microcontroller
board operates at 5v supply whereas the stepper motor board operates at12v.

4.2.2 Microcontroller Board

Arduino based microcontroller development board is chosen here to control

the motion of the system. It acts as brain of the writing system which receives the
commands from the software system from computer connected through the USB serial
port. Arduino development board is flashed with the programme which was written
in the C language, which is responsible to generate the control signal for
corresponding command signal from the computer system to the stepper motors which
directly controls the motion of the tool path. The command from computer or software
system is received and converts them to the actual electronic signals to the Stepper Motor
Driver Board.

4.2.3 Stepper Motor Driver Board

Micro-stepping drive designed for smooth and quiet operation is chosen to drive
the NEMA 17 stepper motor. Stepper motor Driver Board receives the control signal
from the microcontroller board to the terminals PULSE and DIR which generates the
corresponding digital pulse signals for stepper motor to control the rotation of the motor.

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4.3 SOFTWARE SYSTEM

The letters or drawing is designed in Inkscape software, whose output is a

drawing in one of many acceptable formats most preferable format is SVG format. This
drawing is then fed to the Benbox software, whose output is the machine readable
code used for programming of the machine. Since implementation of the C language is
machine dependent, it is necessary to test out different choices for an open source
programming interpreter for the Arduino, so that the correct motions are obtained for the
machine axes through the stepper motor driver.

4.3.1 Inkscape and Benbox

Inkscape is a free and open-source Graphics editor. Here creating the images,
drawings which should draw on the paper. After that run the program through Benbox.
Benbox is Accurate Software than Inkscape.

Benbox is software which is used to generate C language form the given two
dimensional pictures. It is only available for Windows operating system. It is mainly use
for the application of Laser Engraver. It has various features like configure the
microcontroller, setting speed, intensity and steps for the engraving.

Figure 4.1: Logo of Benbox Software

4.4 WORKING

Supply the current in Arduino with USB Data cable to transfer Data from Computer to Arduino
Board, Here it used 2 Stepper Drivers to supply the programming language in Sequence to the
stepper motors. Arduino will be mounted on CNC shield. CNC shield will be distributing the
Current in the command of Arduino. CNC shield will be converting the command of C
language in digital pulse by Stepper motor. In X direction Stepper motor will move left

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and Right ,Y direction stepper motor will be move in front and back direction, Z direction
Stepper motor will be move in Up and down. The accuracy of these machines
results is very high. So it used in industry to reduce the cost of design printing and
maintain accuracy level.

This writing or drawing machine is able to draw complex line drawings. The
coordinates are uploaded to the machine controller by a separate program. The image file
is transformed into software. Then that is transferred to the microcontroller by which the
motor mechanism is instructed to draw the image. Depending on the image to be
drawn, the computer will generate the appropriate coordinates and send them to the
microcontroller through the USB port. The sketching axes are controlled by program.
Then program is uploaded on the Microcontroller of the sketching machine. Then the
controller outputs commands to motors and accessories that can repetitively and
extremely accurately design or draw. The automatic sketch pen movement for building
drawing or sketch is obtained by processing c program through the microcontroller. The
servo motor will be used along the Z axis for positioning the pen which will go up for
logic 0 and down for logic 1. Drawing will be done on the X-Y plane where the
positioning will be controlled by stepper motors. The two axes pen movements can be
precisely and automatically positioned along their lengths of travel by a servo motor and
two stepper motors. The motor drivers are used to process the machine language obtained
from microcontroller and in turn run the motors in clockwise or anticlockwise directions
so as to achieve the desired pen movement. An A4 sheet is pasted using cello tape at the
edges of the proposed 2D sketcher table. It can be used as writing or drawing
(sketching) machine.

4.5 MAIN PARTS OF WRITING MACHINE

The writing machine is worked on input as a C programming help of Benbox and

converting it via use of Arduino, Stepper Drivers, CNC Shield, and Stepper Motor in to a
Rotation of Lead screw. This project designs a simple construction of writing machine.
This is easier way to use stepper motor with lead screw, CNC shield, Stepper drivers,
Arduino Board, etc. The Setup of machine is flexible that’s why it will be easily
transported and Maintenance time is short. The basic diagram of machine is shown in
figure 4.2.

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Figure 4.2: Main parts of writing machine

4.6 BLOCK DIAGRAM

In this idea of project, Arduino microcontroller is used. It can be easily interfaced

with PC using FTDI module whereas also with the easy drivers and stepper motors to.
The basic block diagram is as shown in Fig 4.3.

Figure 4.3: Block Diagram

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CHAPTER 5

WORKING OF SOFTWARE

5.1 INKSCAPE 0.48.5

Inkscape is a free and open-source vector graphics editor; it can be used to create
or edit vector graphics such as illustrations, diagrams, line arts, charts, logos and
complex paintings. Inkscape primary vector graphics format is Scalable Vector Graphics
(SVG), however many other formats can be imported and exported.

Inkscape can render primitive vector shapes (e.g. rectangles, ellipses, polygons,
arcs, spirals, stars and 3D boxes) and text. These objects may be filled with solid colours,
patterns, radial or linear colour gradients and their borders may be stroked, both
with adjustable transparency. Embedding and optional tracing of raster graphics is also
supported, enabling the editor to create vector graphics from photos and other raster
sources. Created shapes can be further manipulated with transformations, such as
moving, rotating, scaling and skewing

Figure 5.1: Inkscape

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5.2 BENBOX

After image edited by Inkscape the image is moved to Benbox and it give output
on the paper. First download the BenBox software version 3.7.99 from internet it’s in
the form of zip file. Inside of the file it find the BenBox software, the driver for the
CH340 chip of the microcontroller, the hexadecimal code to be uploaded to the
microcontroller and an example file to print(logo)

Figure 5.2: BenBox

5.3 INSTALLING THE SOFTWARE

Download the zip file and extract it. Inside it has the software but also the
firmware for the main board in a hexadecimal format. First make sure you install the CH
340 driver. Once that is done, install the BenBox software and open it. Here click the
update firmware in order to upload it to the board. Select the Com of the machine board
and open the hexadecimal file that it had in the downloaded folder. Upload and wait till
you get a green check mark.

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Figure 5.3: Installing the software

5.4 SOFTWARE ARCHITECTURE

Open the software

Figure 5.4 Software Architecture

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There are many buttons on the screen, let's introduce one by one.

Open files

Move buttons - move the laser or pen and choose the zero

point Laser or pen control buttons - Pen off/Pen low/Pen

high/Pen test Preview/Start or pause/Stop buttons

G code debugging/Upload firmware

Hidden interface Click

Click the parameter setting button Hidden interface it can see that there are two pages:

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Figure 5.4(a)

Figure 5.4(b)

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5.5 SOFTWARE STEPS

5.5.1 Connecting the writing machine to the computer, then follow the steps below to
upload firmware.

Figure 5.5: Software Step

Figure 5.5(a)

1. Select the correct COM port

2. Select the right main board type
3. Select the right version of your board
4. Update firmware. Click tick mark

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Figure 5.5(b)

Select the right version of the board. Depending on the main board type.

Figure 5.5(c)

If the connection is unsuccessful, restart the software and check the hardware is
functioning properly. It should to connect an external power supply to make sure it can
work normally.

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5.5.2 Modify the parameters depending on hardware

Figure 5.5(d)

Click OK to save this information’s.

5.5.3 This information is based on writing modify the way you want:

Figure 5.5(e)

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5.5.4 Load picture want to carve on software

Figure 5.5.1: Processing

Processing

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Figure 5.5.1(a)

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CHAPTER 6

ADVANTAGES, DISADVANTAGES AND APPLICATIONS

6.1 ADVANTAGES

1. It’s an open source program and thus a free one, it supports various kinds of
hardware and configurations and it’s very easy to use.
2. The stepper motor never misses any step. Hence the whole operation is reliable.
3. Through Inkscape and Benbox software it can easily generate images.
4. The whole project is cheaper and can be easily constructed through used
parts of hardware from computers.
5. The pen holder is very compatible in nature.
6. Saves time, money & effort.

6.2 DISADVANTAGES

The machine runs in a slow pace and generates excess heat which causes the heat
sink to be heated quickly. A slight error may remain on the image file after it has been
plotted due to one side of the Y-axis fixed to the moving mechanism and the other end is
free to move. The Z-axis is not very rigid so it causes slight vibration.

6.3 APPLICATIONS

1. It is useful for writing documents.

2. It is used to mark on sheet metal with accurate dimensions.
3. It can write basic drawing components.
4. It is used as auto writing machine.
5. It is used to do signature.
6. It is helpful for physically challenged person for writing operation.

Dept. of Mechanical Engg., RIT, Hassan 31

 Development of Arduino Controlled Writing Machine

CHAPTER 7

CONCLUSION

This machine will give better accuracy and reduce work load with the
combination of hardware and software this machine will be easy to use and convenient.
This machine can be used by teachers, students and in offices where still some documents
are writing manually. Making a small machine brings a flexibility to do work. Students
can write their assignments with this machine; it can draw or write on smartphone case
covers. This machine has wide range of applications. It can also draw company name
and logos .So, this machine is useful for industrial purposes and personal purposes
because of great flexibility.

This project works based on the concept of three-axis Arduino Controlled writing
machine. The existing Writing machines are of high cost, difficult to maintain and
requires highly skilled operators. This writing machine overcomes these problems. It
easy to control and there is a need of highly skilled operators. It is hoped to extend this
work for future development.

7.1 FUTURE SCOPE

The pen of the machine can be replaced by a laser to make it work like a laser
engraving or cutting machine. Engraving machine can be used on wood. The pen can
also be replaced with a powerful drill so that it can be used for both milling and
drilling purposes. The servo can be replaced with a stepper motor and the pen with a 3-D
pen to make it a 3-D printer which can print objects with dimensions. By extrapolation
of the axes, the working area of the machine can be extended keeping the algorithm
unaltered.

Dept. of Mechanical Engg., RIT, Hassan 32

 Development of Arduino Controlled Writing Machine

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Dept. of Mechanical Engg., RIT, Hassan 33