robotmatrix.org

 Introduction

• Objective: In a demonstration of repeatability, this drawing robot uses three servos and draws a star pattern on a pad of paper on a clipboard. In the last picture the robot has repeated the pattern 30 times.
• Parts:
  • Robix Rascal Robot Kit/Construction Set
  • The clipboard, pad and ball-point pen are all office supply store items.
  • 2 Rubber bands: One to hold end of pen to 6-link, one to provide thin rubber strip.
• To learn: During construction students will note that contact with the paper provides frictional damping of oscillations that otherwise occur during the motion if the clipboard and pad is removed.

 Step 1: Assemble and build the Drawing Robot Body and Muscle

 Step 2: Drawing Robot Teaching and Macro Programming

For this project you may have to tilt the clipboard and pad so that the pen stays in contact with the paper throughout the drawing. Or you may adjust the pressure for different regions of the drawing.