![International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 12 217 – 219
_______________________________________________________________________________________________
217
IJRITCC | December 2017, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
G-Code Controlled 2D Robotic Plotter
T.Joby Titus
AP(Sr.Gr)
Department of ECE
Sri Ramakrishna Institute
of Technology
Coimbatore,India
jobytitus.ece@srit.org
P.Vinitha
UG Student
Department of ECE
Sri Ramakrishna Institute
of Technology
Coimbatore,India
viniponnambalam@gmai
l.com
M.Nivetha
UG Student
Department of ECE
Sri Ramakrishna Institute
of Technology
Coimbatore,India
nivimv1997@gmail.com
M.Vasanthaalakshmi
UG Student
Department of ECE
Sri Ramakrishna Institute
of Technology
Coimbatore,India
swathiswetharini@gmail.
com
Abstract—2D Robotic Plotter is implemented based on the principle of Computer Numeric Control (CNC). Normally,Computer Aided Design
software (CAD) can be used as the replacement for manual drafting with an automated process. A 2D Robotic Plotter basically works with two
stepped motors and a Servo motor with the control of ATMEGA168p Microcontroller. In our proposed methodology an ARDUINO IDE
platform controls the Motor Driver Shield (L293D) for the movement of the pen in the x and y direction to the rotation in stepper motors. The
servo motor is used for raising and lowering the pen in vertical directions. Ink-scape and G-Code is used for converting the drawing into control
signals used by Microcontroller. In Ink-scape (0.48.5)is an open source software that binds the program along with the diagram for the efficient
plotting. Also G-code is a numeric control programming language which is used mainly in computer aided manufacturing to control automated
machine tools. The2D robotic plotter is a low cost embedded equivalent CNC controller and can be widely used in areas where the accuracy is
considered
Keywords-Motor Driver Shield (L293d), Atmega 168p, Stepper Motor, Servo Motor, Inkscape.
__________________________________________________*****_________________________________________________
I. INTRODUCTION
Robotics is the improvedtechnology, it is used for
productivity,safety, and in saving time and money.In the
stream of robotics, a 2D robotic plotter is used in which a
plotter that offers the works based on the principle of CNC
which render a wide variety of uses like cutting, Lathing,
extruding, milling, fabrication of electronic parts and drawing.
To obtain 2D printing a complex design circuit is used and it
leads to cost overhead. It includes the machining technology
that covers a wide range of aspects. To utilize this machine
technology a proper understanding and selection of a given
machining technology is too needed. Toolingaccessories, and
the machine tool itself determine the nature of machining
operation used for a particular function [1,2]. A machining
operation based on the robotic arm movement is involved in
electronic printing. SCARA which refers to Selective
Compliance Assembly Robot Arm is used to make a robot to
draw by the input plot given by the Computer. The SCARA
robot is an X-Y Plotter. The plotters available in the market
are 2D Cartesian robots, cylindrical robots and Spherical
robot/Polar robots [3].To provide low cost Robotic arm based
printing an Arduino based X-Y Plane movement is performed.
The Arduino microcontroller is an easy to use as it is
equivalent to powerful single board computer and the design
steps for 2D printing is based on the choice of plotter used.
The software that is to be programmed for the effective
functioning of the CNC machine includes C# as a
programming language and dot NET platform for user
interface [4, 5, 6, and 8].
The future technology involves the proper fabrication of
PCB for complex circuit design.A 2D Plotter is mechanically
supported and electrically connects the components using
conductive signal engraved from copper sheets laminated onto
the non conductive substrate [7]. CNC systems depends on
rectangular coordinates, by which the programmer can locate
the point exactly [9].This robotic plotter is an embedded system
which consists of the hardware components like stepper motor
for the movement ( x and y axis), servo motor for the
movement along z axis, motor driver(L293D) and the software
components like Inkscape(0.48.5),Arduino IDE and
Processing(3.0.2).With the wide-spread use of CNC machines
across the world, the difficulties faced in Production downtime,
product loss, and expensive repair bills have been reduced to
many CNC machine users. However the CNC machines have
become expensive now-a-days because of complex controller
involved. To eliminate this complexity a 2D G-Code controlled
robotic plotter is involved.Machine language is to control the
machine by a computer, an Arduino microcontroller is used
along with IDE software, stepper motor and servo motor is
used for rotation in automatic crack detect[10]. The rest of the
paper is organized as a section-II reviews the existing
methodology utilized. Section-III elaborates the proposed
methodology and section –IV demonstrates the results
obtained. Finally, section-V concludes the proposed work.
II. EXISTING METHOD
Arduino GRBL CoreXY Servo Drawbot is works based on
CNC.It uses Arduino UNO (Atmega328p) as the brain of the
robot and a special GRBL firmware for G-Code Interpretation](https://image.slidesharecdn.com/45151496611003-01-2018-180216061042/85/G-Code-Controlled-2D-Robotic-Plotter-1-320.jpg)
![International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 12 217 – 219
_______________________________________________________________________________________________
218
IJRITCC | December 2017, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
COMPUTER
INKSCAPE
ARDUINO IDE
PROCESSING
ARDUINO UNO
+
MOTOR
DRIVER
L2932
MECHANICAL
PART
STEPPER
MOTOR
(X AND Y
AXIS)
+
SERVO
MOTOR
(Z AXIS)
(X
AND Y
AXIS)
and motion control. Core [X, Y] Cartesian movement to
control both X and Y axis. The Z axis is controlled by a servo
motor to lift a pen up and down. This Drawing Robot is a
simple CNC Drawing Robot, it has the capability to draw or
write on any flat surface. Writing implements such as gel pens,
markers can uses for endless applications. Its writing head
extends beyond the machine, so it is possible to draw bigger
than the machine.It is similar to Axi-Draw. In existing
technology the conversion from image to code is critical which
leads to separate interfaces for this process. However, it can be
useful in the areas where thelargest production is required. A
low cost 2D –G Code controlled robotic plotter can be involved
for simple as well as complex plotter applications.
III. PROPOSED METHODOLOGY
Our proposed work involves a mini CNC plotter which is
constructed at a low cost. An INKSCAPE tool along with
Aurdino IDE is used for programming part. The 2D image as
well as writing is loaded through Inkscape and a G-Code is
generated. This G-Code is interfaced with Arduino IDE which
in turn operates the motor controls and performs the specific
drawing. To develop this model the stepper motors from CD
drives are used. These stepper motors are arranged
perpendicular to each other in order to control the movement of
the plotter.The servo motor is attached to the x-axis and the pen
is interfaced with the servo motor shaft. The y-axis is
designated as a plotting area and the paper size is 5x5 cm is
utilized.External supply of 12v, 3A is provided to the motor
driver shield which is mounted to theArduino board.
Figure-1: Block Diagram for the Implementation of CNC
Plotter Proposed Method
Necessary connections for servo motor and stepper motor
are done and the Arduino controller is connected to the
computer port.The program is compatible with Atmega168p by
interfacing withArduino IDE and the image to be plotted is
provided by the inkscape program which in turns provides a
gcode.The gctrl.pde processing program extracts the necessary
images to the CNC plotter.
Figure-2: Control Diagram for Implementation of CNC Plotter
IV. .RESULTS AND DISCUSSION
The utilization of a CNC machine is found in almost all
industries, from small scale to large scale industries and there is
a great surge in the demand of the CNC programmers. This
CNC system is now effectively utilized in most industrial
process that can be described as a series of movements and
operations. G-code file generation is the heart of a CNC
program and INKSCAPE software has many features of adobe
illustrator as well as G-Code file generation, as it is a open
source it can be utilized effectively for low cost project models.
An Arduino IDE utilizes this G-Code and operates the motor
and performs the specific drawing in both horizontal and
vertical position. In this 2D ROBOTIC PLOTTER the tiny
machine draws images with good accuracy and it can also be
used extensively in wood working industries to perform various
operations like routing similar to milling and drilling. Lettering
and engraving systems are used by CNC technology. Electrical
industry such as CNC terminal location and soldering
machines, coil winders are immense using the CNC
technology. It is also used effectively in industries for
removing metal and fabricating metals.
Figure-3: Implementation of 2D- CNC Plotter](https://image.slidesharecdn.com/45151496611003-01-2018-180216061042/85/G-Code-Controlled-2D-Robotic-Plotter-2-320.jpg)
![International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 5 Issue: 12 217 – 219
_______________________________________________________________________________________________
219
IJRITCC | December 2017, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
V. CONCLUSION
This model 2D robotic plotter provides the low cost
drawing in horizontal and vertical directions. Two stepper
motor and servo motor control is utilized to obtain this
movement. Inkscape tool is effectively utilized to generate this
drawing control code. Integrating the software along with the
hardware and mechanical systems makes up an effective 2D
plotter. This model finds effective application in CNC machine
controls.
ACKNOWLEDGMENT
The preferred spelling of the word “acknowledgment” in
America is without an “e” after the “g”. Avoid the stilted
expression, “One of us (R.B.G.) thanks . . .” Instead, try
“R.B.G. thanks”. Put applicable sponsor acknowledgments
here; DO NOT place them on the first page of your paper or as
a footnote.
REFERENCES
[1] Venkatram Ramachandran, Evaluation of Performance Criteria
of CNC Machine Tool Drive System, IEEE Transactions on
Industrial Electronics, Vol. 45, No. 3, June 1998, pp. 462468.
[2] Allen G. Morinec, Power Quality Considerations for CNC
Machines:Grounding, IEEE Transactions on Industrial
Electronics, Vol. 38, No. 1,January/February 2002, pp. 3-11.
[3] Dr M Shivakumar, Sta_ord Michahail, Ankitha Tantry H,
Bhawana C K,Kavana H and Kavya V Rao, Robotic 2D Plotter,
International Journal of Engineering and Innovative Technology
(IJEIT), Volume 3, Issue 10,April 2014, pp.300-303.
[4] Venkata Krishna Pabolu et al., Design and Implementation of a
Three Dimensional CNC Machine (IJCSE) International Journal
on Computer Science and Engineering Vol. 02, No. 08, 2010,
pp. 2567-2570.
[5] R. Dayana, Gunaseelan P, Microcontroller Based X-Y Plotter,
International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering, Vol. 3, Special
Issue 3, April 2014.
[6] Ahn Luong, Willis Lutz, Jared Springle, Ashton Snelgrove,
Computer numerical control 3 axis plotter, University of Utah,
Computer Engineering, june 3, 2016
[7] Hassam Salamah, Ja'far Yasin, PCB CNC Machine, An-Najah
NationalUniversity, Computer Engineering, 256 pages,2014
[8] W Durfee, Arduino Microcontroller Guide,University of
Minnesota.Umn.edu/courses/me2011
[9] Steve Krar, Arthur Gill, Computer Numerical Control
Programming Basics. Industrial Press Inc.,2000.
[10] Kumar, S. Sam Jai, T. Joby Titus, V. Ganesh, and VS Sanjana
Devi. "Automotive Crack Detection for Railway Track Using
Ultrasonic Sensorz." International Journal of Engineering
Technology and Computer ResearchVol.4, no.6, pp.34-
37,(2016).](https://image.slidesharecdn.com/45151496611003-01-2018-180216061042/85/G-Code-Controlled-2D-Robotic-Plotter-3-320.jpg)
G-Code Controlled 2D Robotic Plotter
- 1. International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169 Volume: 5 Issue: 12 217 – 219 _______________________________________________________________________________________________ 217 IJRITCC | December 2017, Available @ http://www.ijritcc.org _______________________________________________________________________________________ G-Code Controlled 2D Robotic Plotter T.Joby Titus AP(Sr.Gr) Department of ECE Sri Ramakrishna Institute of Technology Coimbatore,India [email protected] P.Vinitha UG Student Department of ECE Sri Ramakrishna Institute of Technology Coimbatore,India viniponnambalam@gmai l.com M.Nivetha UG Student Department of ECE Sri Ramakrishna Institute of Technology Coimbatore,India [email protected] M.Vasanthaalakshmi UG Student Department of ECE Sri Ramakrishna Institute of Technology Coimbatore,India swathiswetharini@gmail. com Abstract—2D Robotic Plotter is implemented based on the principle of Computer Numeric Control (CNC). Normally,Computer Aided Design software (CAD) can be used as the replacement for manual drafting with an automated process. A 2D Robotic Plotter basically works with two stepped motors and a Servo motor with the control of ATMEGA168p Microcontroller. In our proposed methodology an ARDUINO IDE platform controls the Motor Driver Shield (L293D) for the movement of the pen in the x and y direction to the rotation in stepper motors. The servo motor is used for raising and lowering the pen in vertical directions. Ink-scape and G-Code is used for converting the drawing into control signals used by Microcontroller. In Ink-scape (0.48.5)is an open source software that binds the program along with the diagram for the efficient plotting. Also G-code is a numeric control programming language which is used mainly in computer aided manufacturing to control automated machine tools. The2D robotic plotter is a low cost embedded equivalent CNC controller and can be widely used in areas where the accuracy is considered Keywords-Motor Driver Shield (L293d), Atmega 168p, Stepper Motor, Servo Motor, Inkscape. __________________________________________________*****_________________________________________________ I. INTRODUCTION Robotics is the improvedtechnology, it is used for productivity,safety, and in saving time and money.In the stream of robotics, a 2D robotic plotter is used in which a plotter that offers the works based on the principle of CNC which render a wide variety of uses like cutting, Lathing, extruding, milling, fabrication of electronic parts and drawing. To obtain 2D printing a complex design circuit is used and it leads to cost overhead. It includes the machining technology that covers a wide range of aspects. To utilize this machine technology a proper understanding and selection of a given machining technology is too needed. Toolingaccessories, and the machine tool itself determine the nature of machining operation used for a particular function [1,2]. A machining operation based on the robotic arm movement is involved in electronic printing. SCARA which refers to Selective Compliance Assembly Robot Arm is used to make a robot to draw by the input plot given by the Computer. The SCARA robot is an X-Y Plotter. The plotters available in the market are 2D Cartesian robots, cylindrical robots and Spherical robot/Polar robots [3].To provide low cost Robotic arm based printing an Arduino based X-Y Plane movement is performed. The Arduino microcontroller is an easy to use as it is equivalent to powerful single board computer and the design steps for 2D printing is based on the choice of plotter used. The software that is to be programmed for the effective functioning of the CNC machine includes C# as a programming language and dot NET platform for user interface [4, 5, 6, and 8]. The future technology involves the proper fabrication of PCB for complex circuit design.A 2D Plotter is mechanically supported and electrically connects the components using conductive signal engraved from copper sheets laminated onto the non conductive substrate [7]. CNC systems depends on rectangular coordinates, by which the programmer can locate the point exactly [9].This robotic plotter is an embedded system which consists of the hardware components like stepper motor for the movement ( x and y axis), servo motor for the movement along z axis, motor driver(L293D) and the software components like Inkscape(0.48.5),Arduino IDE and Processing(3.0.2).With the wide-spread use of CNC machines across the world, the difficulties faced in Production downtime, product loss, and expensive repair bills have been reduced to many CNC machine users. However the CNC machines have become expensive now-a-days because of complex controller involved. To eliminate this complexity a 2D G-Code controlled robotic plotter is involved.Machine language is to control the machine by a computer, an Arduino microcontroller is used along with IDE software, stepper motor and servo motor is used for rotation in automatic crack detect[10]. The rest of the paper is organized as a section-II reviews the existing methodology utilized. Section-III elaborates the proposed methodology and section –IV demonstrates the results obtained. Finally, section-V concludes the proposed work. II. EXISTING METHOD Arduino GRBL CoreXY Servo Drawbot is works based on CNC.It uses Arduino UNO (Atmega328p) as the brain of the robot and a special GRBL firmware for G-Code Interpretation
- 2. International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169 Volume: 5 Issue: 12 217 – 219 _______________________________________________________________________________________________ 218 IJRITCC | December 2017, Available @ http://www.ijritcc.org _______________________________________________________________________________________ COMPUTER INKSCAPE ARDUINO IDE PROCESSING ARDUINO UNO + MOTOR DRIVER L2932 MECHANICAL PART STEPPER MOTOR (X AND Y AXIS) + SERVO MOTOR (Z AXIS) (X AND Y AXIS) and motion control. Core [X, Y] Cartesian movement to control both X and Y axis. The Z axis is controlled by a servo motor to lift a pen up and down. This Drawing Robot is a simple CNC Drawing Robot, it has the capability to draw or write on any flat surface. Writing implements such as gel pens, markers can uses for endless applications. Its writing head extends beyond the machine, so it is possible to draw bigger than the machine.It is similar to Axi-Draw. In existing technology the conversion from image to code is critical which leads to separate interfaces for this process. However, it can be useful in the areas where thelargest production is required. A low cost 2D –G Code controlled robotic plotter can be involved for simple as well as complex plotter applications. III. PROPOSED METHODOLOGY Our proposed work involves a mini CNC plotter which is constructed at a low cost. An INKSCAPE tool along with Aurdino IDE is used for programming part. The 2D image as well as writing is loaded through Inkscape and a G-Code is generated. This G-Code is interfaced with Arduino IDE which in turn operates the motor controls and performs the specific drawing. To develop this model the stepper motors from CD drives are used. These stepper motors are arranged perpendicular to each other in order to control the movement of the plotter.The servo motor is attached to the x-axis and the pen is interfaced with the servo motor shaft. The y-axis is designated as a plotting area and the paper size is 5x5 cm is utilized.External supply of 12v, 3A is provided to the motor driver shield which is mounted to theArduino board. Figure-1: Block Diagram for the Implementation of CNC Plotter Proposed Method Necessary connections for servo motor and stepper motor are done and the Arduino controller is connected to the computer port.The program is compatible with Atmega168p by interfacing withArduino IDE and the image to be plotted is provided by the inkscape program which in turns provides a gcode.The gctrl.pde processing program extracts the necessary images to the CNC plotter. Figure-2: Control Diagram for Implementation of CNC Plotter IV. .RESULTS AND DISCUSSION The utilization of a CNC machine is found in almost all industries, from small scale to large scale industries and there is a great surge in the demand of the CNC programmers. This CNC system is now effectively utilized in most industrial process that can be described as a series of movements and operations. G-code file generation is the heart of a CNC program and INKSCAPE software has many features of adobe illustrator as well as G-Code file generation, as it is a open source it can be utilized effectively for low cost project models. An Arduino IDE utilizes this G-Code and operates the motor and performs the specific drawing in both horizontal and vertical position. In this 2D ROBOTIC PLOTTER the tiny machine draws images with good accuracy and it can also be used extensively in wood working industries to perform various operations like routing similar to milling and drilling. Lettering and engraving systems are used by CNC technology. Electrical industry such as CNC terminal location and soldering machines, coil winders are immense using the CNC technology. It is also used effectively in industries for removing metal and fabricating metals. Figure-3: Implementation of 2D- CNC Plotter
- 3. International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169 Volume: 5 Issue: 12 217 – 219 _______________________________________________________________________________________________ 219 IJRITCC | December 2017, Available @ http://www.ijritcc.org _______________________________________________________________________________________ V. CONCLUSION This model 2D robotic plotter provides the low cost drawing in horizontal and vertical directions. Two stepper motor and servo motor control is utilized to obtain this movement. Inkscape tool is effectively utilized to generate this drawing control code. Integrating the software along with the hardware and mechanical systems makes up an effective 2D plotter. This model finds effective application in CNC machine controls. ACKNOWLEDGMENT The preferred spelling of the word “acknowledgment” in America is without an “e” after the “g”. Avoid the stilted expression, “One of us (R.B.G.) thanks . . .” Instead, try “R.B.G. thanks”. Put applicable sponsor acknowledgments here; DO NOT place them on the first page of your paper or as a footnote. REFERENCES [1] Venkatram Ramachandran, Evaluation of Performance Criteria of CNC Machine Tool Drive System, IEEE Transactions on Industrial Electronics, Vol. 45, No. 3, June 1998, pp. 462468. [2] Allen G. Morinec, Power Quality Considerations for CNC Machines:Grounding, IEEE Transactions on Industrial Electronics, Vol. 38, No. 1,January/February 2002, pp. 3-11. [3] Dr M Shivakumar, Sta_ord Michahail, Ankitha Tantry H, Bhawana C K,Kavana H and Kavya V Rao, Robotic 2D Plotter, International Journal of Engineering and Innovative Technology (IJEIT), Volume 3, Issue 10,April 2014, pp.300-303. [4] Venkata Krishna Pabolu et al., Design and Implementation of a Three Dimensional CNC Machine (IJCSE) International Journal on Computer Science and Engineering Vol. 02, No. 08, 2010, pp. 2567-2570. [5] R. Dayana, Gunaseelan P, Microcontroller Based X-Y Plotter, International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, Vol. 3, Special Issue 3, April 2014. [6] Ahn Luong, Willis Lutz, Jared Springle, Ashton Snelgrove, Computer numerical control 3 axis plotter, University of Utah, Computer Engineering, june 3, 2016 [7] Hassam Salamah, Ja'far Yasin, PCB CNC Machine, An-Najah NationalUniversity, Computer Engineering, 256 pages,2014 [8] W Durfee, Arduino Microcontroller Guide,University of Minnesota.Umn.edu/courses/me2011 [9] Steve Krar, Arthur Gill, Computer Numerical Control Programming Basics. Industrial Press Inc.,2000. [10] Kumar, S. Sam Jai, T. Joby Titus, V. Ganesh, and VS Sanjana Devi. "Automotive Crack Detection for Railway Track Using Ultrasonic Sensorz." International Journal of Engineering Technology and Computer ResearchVol.4, no.6, pp.34- 37,(2016).