by daGHIZmo, published

POLAR DRAWBOT by daGHIZmo May 1, 2015


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This is my redesign of mechanical parts used to build a Wallmount Polar Drawbot .

I built mine collecting and mixing various information I found available on the web.

The electronics and firmware comes from Dan Royer's "Makelangelo project" (Makelangelo SOFTWARE - Makelangelo FIRMWARE ) using V1 version of Adafruit motor shield but I used an DK Electronics motor shield

I made several test trials using parts found ready around many projects, but none seem to match the requirements I would like to obtain.

So I completely redesign all parts.

Following several tests I developed 3 kind of pulley: one is to be used for smooth cords and others for synchronous trasmission made with ball chains.

3 types of ball chain can be used: Ø 3,2 mm all metal chain with pitch of 4 mm , Ø4,4 mm plastic ball and cord with pitch 6 mm, Ø4,4 mm plastic ball and cord with pitch 12 mm

They can be used interchangeably, just remember to change pulley diameter in the machine setup or you obtain unaspected results.

Also the overall dimensions like stepper motors interaxes or drawing area can be changed at your convenience (remember also to change them in setup)

As a counterweight I used some exhausted "D" type batteries and for that I made several kind of holder to hang them.

For mechanical parts I was also inspired from some photos of Kongorilla on Flickr https:[email protected]/

I post some images on Flickr here: https:[email protected]/sets/72157652579199386

added a video of drawbot in action at:

in the next month I think I'll develop an MK2 version

new timelapse video:

update 19/09/15
video assembly instructions:https://youtu.be/bMyd1Vm-Nrk


In trasmission gears and the pen fixing, I used captive nuts so remember to pause the gcode and insert the nut as explained in my previous things

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Feb 21, 2017 - Modified Feb 21, 2017


Nice Drawbot!, made one myself now, but there is a software issue i am facing atm, when i go to:

settiings -> pen(cil) TAB there are step/min numbers like 6500,0 etc, but when i change some settings to like 3500,0 and press OK... they are NOT saved,, also up/down pencil values and everything on the TAB is not going to be saved, when i go to the config again, the "default" settings are all back!?, what could be the problem?

Makelangelo v7.10.0 (JAR)
JAVA: v8 update 121
OS: Windows 10 64-bit

Best Regards.

This is the error spit out in the console when adjusting something in the settings, hopefully some can help...

WARNING: Could not open/create prefs root node Software\JavaSoft\Prefs at root 0x80000002. Windows RegCreateKeyEx(...) returned error code 5.
Exception in thread "AWT-EventQueue-0" java.lang.NumberFormatException: For input string: "210,0"
at sun.misc.FloatingDecimal.readJavaFormatString(Unknown Source)
at sun.misc.FloatingDecimal.parseDouble(Unknown Source)
at java.lang.Double.parseDouble(Unknown Source)
at java.lang.Double.valueOf(Unknown Source)
at com.marginallyclever.makelangeloRobot.settings.PanelAdjustPaper.save(PanelAdjustPaper.java:291)
at com.marginallyclever.makelangeloRobot.settings.MakelangeloSettingsDialog.run(MakelangeloSettingsDialog.java:97)
at com.marginallyclever.makelangeloRobot.MakelangeloRobotPanel.actionPerformed(MakelangeloRobotPanel.java:456)
at javax.swing.AbstractButton.fireActionPerformed(Unknown Source)
at javax.swing.AbstractButton$Handler.actionPerformed(Unknown Source)
at javax.swing.DefaultButtonModel.fireActionPerformed(Unknown Source)
at javax.swing.DefaultButtonModel.setPressed(Unknown Source)
at javax.swing.plaf.basic.BasicButtonListener.mouseReleased(Unknown Source)
at java.awt.Component.processMouseEvent(Unknown Source)
at javax.swing.JComponent.processMouseEvent(Unknown Source)
at java.awt.Component.processEvent(Unknown Source)
at java.awt.Container.processEvent(Unknown Source)
at java.awt.Component.dispatchEventImpl(Unknown Source)
at java.awt.Container.dispatchEventImpl(Unknown Source)
at java.awt.Component.dispatchEvent(Unknown Source)
at java.awt.LightweightDispatcher.retargetMouseEvent(Unknown Source)
at java.awt.LightweightDispatcher.processMouseEvent(Unknown Source)
at java.awt.LightweightDispatcher.dispatchEvent(Unknown Source)
at java.awt.Container.dispatchEventImpl(Unknown Source)
at java.awt.Window.dispatchEventImpl(Unknown Source)
at java.awt.Component.dispatchEvent(Unknown Source)
at java.awt.EventQueue.dispatchEventImpl(Unknown Source)
at java.awt.EventQueue.access$500(Unknown Source)
at java.awt.EventQueue$3.run(Unknown Source)
at java.awt.EventQueue$3.run(Unknown Source)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.awt.EventQueue$4.run(Unknown Source)
at java.awt.EventQueue$4.run(Unknown Source)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.awt.EventQueue.dispatchEvent(Unknown Source)
at java.awt.EventDispatchThread.pumpOneEventForFilters(Unknown Source)
at java.awt.EventDispatchThread.pumpEventsForFilter(Unknown Source)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.run(Unknown Source)

I'm most likely blind, but wasn't there originally an instruction part under Thing Details? Most of the construction is pretty self explanatory, but I was wondering what size screws you might have used.

Does anyone know how to implement the gocupi's image creation software in a "g-code compliant" machine like this polar drawbot is?
Except for a little header in the output file (if you chose to save the file, you can open it with notepad), it's a "quite standard" g-code file.
Said that, every software which have a g-code output can be used with this machine (with some adjustment, that can be done by hand anyway).

I like a lot how the gocupi software renders the image, it's a simple stipplegen-like path + Travelling Salesman Problem, but i can't find any software that has an output as good as the gocupi's one. (not to mention the speed of the drawing process)

Oct 2, 2016 - Modified Oct 6, 2016

any got the software to download for free im on windows
and what Thickness:of the mdf wood i need

Hi guys!
I have a problem with stepper motors - when running there are making strange noise like squeak and getting bery hot in a minutes. What's more I can here noise similar to bioling.
I using MEGA 2560 with Ramps 1.4 and stepstick.

Anyone can help me? I find nothing about the build, bom list, wiring... Thanks for your help

hi guy

look buying parts but unsure on nuts and bolt 2xM3 and M4 what side do i need

and wher can get chains in the uk and what best side

Ok, these are the closest I could find for the ball chains

3,2 mm all metal chain with pitch of 4 mm = http://www.fixmyblinds.com/product-p/cut-006.htm
4,4 mm plastic ball and cord with pitch 6 mm = http://www.fixmyblinds.com/product-p/cut-004.htm
4,4 mm plastic ball and cord with pitch 12 mm = http://www.fixmyblinds.com/product-p/cut-005.htm
Are these correct for the chains?

3/16" is closer to 4,8 mm than 4,4 mm (or does it really matter?)

Got my BOM setup...2~nema 17 steppers at ~$14 a piece, 1-SG90 servo (actually 5 for $10), and I even went for a different controller [OSOYOO 3D Printer Kit with RAMPS 1.4 Controller + Mega 2560 board + 5pcs A4988 Stepper Motor Driver with Heatsink + LCD 12864 Graphic Smart Display Controller with Adapter For Arduino RepRap] for ~$35 (Lets hope I can get the firmware setup correctly)
Just want to make sure I get the right ball chains for the build.

Please advise over...

Yes, 3,2 mm all metal chain with pitch of 4 mm = http://www.fixmyblinds.com/product-p/cut-006.htm, is the right size.

Jun 5, 2016 - Modified Jun 5, 2016

I have a huge issue with the rig shaking like crazy then drawing anything that isn't a straight line. Telling it to move to either direction is fine, but printing anything other than that makes the beads tremble like crazy. Any ideas on how to stabilize it?

I'm using the "FCE.1501.02.003_44mmp6drivegear_fix" pulleys and have configured all the settings in Makelangelo.
The diameter is set to 21. The end results are not recognizable to the previews at all. Video here: https://youtu.be/4C9E-hqlPZQ

Comments deleted.

I would strongly advice you to use an Arduino mega with a ramps 1.4 board. I myself tried for weeks to get the Adafruit motorshield
working. I gave up and changed to the other solution wich works great. Also there is a lot of knowledge out there because the hardware is also used for 3D printing and CNC projects. And you easely can use for example an additional LCD 2004 smartcontroller so you can print standalone without the need of using a pc or laptop.

Have you used the code and software available on Instructables?

Thanks for the tip. I got the motors running after using a 12V/2A power supply and switching to another Arduino... looks like the one I have was broken.

When using Adafruit V1 motor shield dont forget .6 amps is the most current the chips can take. Normally the higher the voltage the lower current a Nema 17 motor needs. Still when money is no issue i would go for Arduino mega and a Ramps solution. O and use active cooling for the motor shields they get quite hot.

I got one of the motors to work once I replaced my 5V power supply with a 12V... but the other motor isn't rotating, just vibrating. If I switch them around the other works, but the other don't, so I know it's not the stepper motor. Any ideas on how to get both to rotate? Where should I start to debug?

I am having the same problem. My motors are vibrating. How did you troubleshoot it?

I do not need any more projects! Why oh why did you have to publish this!? Alright fine. I think I have a couple of steppers here somewhere....

I felt the same way when I saw it. Good luck!

Finally finally it seems to work, but not in the way daGHIZmo made it. I just did a testrun and it seems to work perfectly.
But totally different hardware i used. I use an Mega with a ramps 1.4 board and 2 ofcourse stepstickdrivers.
Save yourself a lot of trouble and frustration and start right away with that solution, good part is you also can use an LCD screen
with SD card so you can print without a computer. I will start my own creation but the credits go fully to daGHIZmo he is the guy who got me going in the first place.

Comments deleted.
May 13, 2016 - Modified May 13, 2016
V3rtex - in reply to Chrome98

This is not for Arduino.

Ummmm, yes it is. I'm referring to the Polarbot firmware for the controller not the desktop application.

Ummm, yes that is not the firmware. Anyway i am starting new and will use different hardware wich seems to work 300% better with Makelangelo at the moment then with the Adafruit motor V1 shield.

What are you trying to say? I'm trying to compile the polarbot firmware and upload to the Uno. So I'm not sure what you are trying to say. Is there something else I need to be uploading to the Uno?

hey is there a link to the code you used? i have made a similar machine but lack the programming skills to get it going.

May 11, 2016 - Modified May 11, 2016
V3rtex - in reply to felixjerome

Actually you need 2 programs, the firmware for the board and you need the program itself. I have builded it myself but it doesnt work. And the software has bugs also when you read the Makelangelo forum. Now i am trying to build another one based on totally different electronics. There is a Rumba version but you can modify it for Mega2560 and a ramps 1.4 board with 2 steppers on it. Give me a personal post and i will help you to get the software, the only thing i ask of you is to keep me posted on how your project goes.

Cheers your an absolute legend!! I have the steppers (2xnema 17) set up with a mega and a ramps board I'll find out which versions they are and and get back to you.

May 2, 2016 - Modified May 2, 2016

After some research, i liked your design the most except for the knob wich holds the pen. But that can be changed,
my problem is speed. Because of the speed the pen bounces all over the place making drawing impossible.

My question is wich stepper motors did you use V and amp wise, and what settings dit you use?

Played with some settings but it has no effect, hope you can give some tips.

I use an older version, because the current version doesnt work wich is also spoken of in there forum.

Stepper motors do not work with a v2.3 Adafruit shield. I will investigate...

Woah this is so cool! I want one so bad! The only 3D Printers I have are at school though. :(

Really cool, Im hoping to do one soon.
Is there anyone here who knows which size the captive nuts are?

M3 for pulleys and M4 for pen holder

Wow this is impressive!

Grazie per la risposta, mi è ancora poco chiaro il discorso della configurazione. Per quanto riguarda la lunghezza ho capito che bisogna misurare la distanza tra i due alberi motore ma per l'altezza non capisco se si fa riferimento all'altezza del pannello o altro. In sostanza il mio problema adesso è che se provo a far disegnare un quadrato in realtà mi disegna un rettangolo per lo più trapezoidale con la base più lunga e inoltre le linee non sono orizzontali ma leggermente curve. In pratica se ad esempio do un movimento nell'asse X di 10 cm mi disegna quasi una mezza luna non so se riesco a spiegarmi... Sto utilizzando arduino uno + adafruit motor shield v2 e 2 nema 17 uni/bipolari 200 steps da 1.2 A ( utilizzati in bipolare). Ci sto perdendo le notti a trovare una soluzione spero tu possa aiutarmi. Grazie ancora

nelle release precedenti era spiegato meglio con una foto, comunque devi mettere le dimensioni della macchina che sostanzialmente sono la dimensione dell'interasse motori (importante) e l'altezza del pannello (meno importante) (io uso 800x800) poi anche le dimensioni del tuo foglio (che naturalmente sono più piccole di quella della macchina) (io uso fogli 330x480 che trovo al supermercato). Poi devi mettere il diametro delle pulegge (30 se usi la catenella a sfera )

Ciao complimenti per il progetto. Ho scoperto da pochissimo questo sistema e vorrei provare a costruirne uno, avrei però alcuni dubbi da completo principiante che spero tu possa chiarirmi.
La distanza dei due motori è arbitraria o esistono delle formule per calcolarla?
Stessa cosa per la lunghezza delle corde…
L'altra mia domanda è: la parete può essere completamente verticale o deve essere leggermente inclinata? dai tuoi video sembra infatti che il pannello non sia perfettamente verticale.

Ciao, la distanza è arbitraria basta che insersci l' interasse nel setup del programma (se usi Makelangelo). La lunghezza delle corde è di conseguenza. La parete è inclinata

Dimenticavo... Ho gia modificato il firmware sostituendo 400steps con 200 steps e modificato nel software il diametro delle pulegge...ma messun cambiamento.

Im trying to put together a full bill of materials for this project as there doesn’t seem to be much information on what needs adding/printing and how many

Please feel free to add to this BOM



Could someone please show how to wire steppers and servo to Motor Shield? Even a pic would be fine. Thanks!

I believe I have it figured out.

Comments deleted.

I think I got it. Can anyone tell me how to wire the steppers and servo? Schematic?

Still need help with this. Doesn't someone have a schematic, showing where left and right motor A+/- and B+/- attach on the shield? Which servo connector attach to lifting stepper?

Its easy with a 4 wire stepper, take 2 wires from a stepper and connect, when you feel resistance while turning its a pair. Then connect the 2 pairs leave the middle connection so for example connect to 1 and 2 leave 3 and 4 and 5 for the second pair.
In the software you can adjust some settings, for example your motor turns left while pressing the right button then you select invert. when motor is not turning switch the wires on pair 1 etc but at same location. it seems a hassle but within 10 minutes it can be up and running.

I figured out what you were saying. Thank you. Now that it's all together I just need to figure out the code and get it uploaded to the Uno.

I have no idea what you are trying to say. Thank you anyway for trying.

Ok, could use some help here. Printed up all the parts but something is not right, the angled brackets are not wide enough or hub where the pen screw goes is too thick. When I try to assemble it by the picture shown there is no way it will go together. Anyone know if I was supposed to up scale any of these parts or anything?

nothing to scale up or down .... have a look at the video assembly on you tube, also

No, the parts are ready to be printed.
Try to check your printer...

I watched the video but for some reason the distance on my angled brackets is not wide enough to allow the two center pieces to fit between them. Not sure why. Can't find anything wrong in my setting and all the parts fit onto the shaft just right. Just seems like the angle brackets are not wide enough. :(

Ball chain. This place carries all three sizes and by the foot.

Feb 25, 2016 - Modified Feb 25, 2016

Salve, ho appena stampato ed assemblato tutto ma non riesco a caricare lo sketchup su arduino, ho trovato questo https://github.com/MarginallyClever/Makelangelo-firmware/blob/2cbec03a8f54e4463c2ca125d95b996c9e72398f/firmware_ams/firmware_ams.ino#L25
ma non so se è quello giusto, comunque richiede una libreria adafruitpolargraph.h che non trovo da nessuna parte, qualcuno potrebbe aiutarmi?
RETTIFICO, richiede AFMotorDrawbot.h

Ok, sono riuscito a fare l'upload con altri link trovi qui, ora il problema è un'altro, ho provato con arduino uno e , nonostante riesca a collegarmi alla porta seriale su makelangelo, non riesco a controllare niente, provato anche con mega e niente, ad un certo punto al 100esimo upload su uno, appena finito, si è mosso il servo, e si muovevano ogni volta che collegavo la porta a makelangelo, ma comunque non avevo controllo! sto usando lo shield dk electronics... qualche idea? ho impostato adafruit v1 come mb

Ciao Carlo, ottima realizzazione, bel progetto. Mi piacerebbe apportare alcune modifiche ai file, solo che trovo difficoltà ad editare il formato STL. In particolare vorrei inserire degli stepper direttamente nel corpo (gondola). L'idea è fare in modo che tutta l'elettronica sia all'interno della gondola stessa. Sarebbe possibile mettere a disposizione i file originali dai quali sono stati poi creati gli stl?
Il progetto verrà impiegato all'interno di una manifestazione (gratuita) del nostro Arduino User Group: ne stamperemo diversi e allestiremo dei kit che verranno montati (e messi in funzione) durante l'evento.
Ti comunico infine che il file FCE.1501.01.005_fix_r01.STL non ha lo slot per inserire il dado (lo spazio c'è ma è "tappato").
Grazie, Stefano

allora non sono l'unico che non ha visto che nelle istruzioni c'è scritto di mettere in pausa la stampa per inserire il dado! :)

È vero :D
In realtà ho "impiattato" gran parte dei pezzi e ho mandato in stampa, pensando che come molti altri progetti ci fosse lo slot per inserire il dado in un secondo momento.
Sono comunque riuscito a editare gli STL: ho utilizzato un software che si chiama "meshfix" che ha sistemato alcuni triangoli che davano problemi.

Si io uso spesso i "captive nuts" e solitamente riporto la nota nelle istruzioni .... spesso però non è scontato per tutti .... infatti stavo preparando un instructables che però ho pronto a metà da parecchio tempo e non riesco mai a finirlo .... se guardate nelle mie things precedenti ci sono degli esempi a riguardo

Feb 18, 2016 - Modified Feb 18, 2016

Ciao Carlo, vorrei costruirmi il tuo splendido Polar Drawbot, mi sto stampando i pezzi in plastica ed ho ordinato su ebay lo shield L293D della DK Elektronics che utilizzi tu. Secondo te come motori potrei utilizzare questi (http://www.ebay.it/itm/321700936548?_trksid=p2060353.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT) o devo necessariamente acquistare i Nema 17 da 12V? Ciao grazue e complimenti per il progetto

Hi Carlo Iwould make your Polar Drawbot, i'm printing the plastics and I bought on ebay the shield L293D. For you like motors I can use this http://www.ebay.it/itm/321700936548?_trksid=p2060353.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT or i must take the Nema 17?
Thanks and bye bye

Grazie per la risposta, a giorni mi dovrebbero arrivare i 5 mototri 28byj-48 che avevo acquistato in precedenza per uno scanner 3d e proverò. Spero che lo sketch di Arduino ideato per i motori Nema17 vada anche bene per i miei motori, perchè in caso contrario non saprei dove mettere le mani per modificarlo; in ogni caso ti farò sapere. Ciao e grazie ancora

Mar 2, 2016 - Modified Mar 2, 2016
Pietrogramma - in reply to Pietrogramma

Ieri, finalmente, mi è arrivato lo shield L293D della DK Elektronics ed ho provato a collegarci i due motori 28BYJ-48 e ad utilizzare lo skretch per arduino da te indicato ma, come pensavo, non va. Il servo motore viene comandato regolarmente ma i due motori stepper vibtano ma l'asse non gira.
Ho provato ad utilizzare gli shield in dotazione dei motori ed un altro skretch (compatibile con una versione precedente di Makalangelo) e questa volta i motori andavano ma il servo motore no.

Hai/avete qualche consiglio?
Ciao e grazie

Yesterday , finally , I got the shield L293D of the DK Elektronics and I tried to connect the two 28BYJ-48 engines and to use Arduino's skretch that you indicated but , as I thought , it's not work . The servo motor is controlled regularly but the two stepper motors vibrate but the axis does not run .
I tried using the shield supplied with the engines and another skretch ( compatible with an earlier version of Makalangelo ) and this time the engines are ok but the servo motor don't work .
you have some advice for me

Purtroppo non ho esperienza con quei motori e non saprei aiutarti. Ho visto solo che qualcuno li ha usati per applicazioni simili. Nel frattempo ne ho ordinati un paio per vedere che cosa ci posso fare. Io ho usato dei nema 17 e lo shield DKC .... e ho tribulato parecchio pure io. Mi sembra che uno dei problemi era relativo alle librerie dei servo che poi ho risolto mi sembra scaricando queste ... https://github.com/adafruit/Adafruit-Motor-Shield-library

Ciao Carlo, grazie mille per la risposta.
Oggi vorrei comprarmi su ebay due motori Nema 17, devo cercarne qualcuno con particolari caratteristiche o sono tutti uguali? hai qualche link dove poterli comprare?
Ciao e di nuovo grazie

Hi all,
i'm facing some trouble with the software.
I'm currently using the software that is suggested in the makelangelo's site, for the makelangelo v 2.5, i guess.
Anyway, sometimes something goes wrong and the print stops without errors, the motor shield isn't hot, and the colored lines (the ones that highlight the planned movements) stop too.
I think that it's a problem in the Java software, not in the firmware, so i've searched for updates and i've found this: https://www.marginallyclever.com/2016/02/makelangelo-7-3-1/
New host software, that needs the last firmware version.
The problem with this new version is related to the limit switches.
Even if i've commented the line which is supposed to define the behavior of the drawbot, when i connect the machine it will move forever, i guess searching for the limit switches (but i'm not sure of that).
Does anyone have had experience with that?
One option is to remove this function.
Another option is to add the switches and actually use this function. I'm using a L293D shield V1, and there are several I/O available.
Is not a problem to add some pins on the shield, i just don't know how this switches are supposed to work (NC, NO, with a pullup resistor, ecc).
I'll try to gather further informations...

The version this Thing recommends has limit switches turned off by default, but it sounds like you have them turned on. The firmware (Arduino sketch) should have an option for using or not using limit switches. You should be able to turn that option off by commenting out the appropriate line, and then it will not search for a limit. If it is searching for home even with limit switches disabled, then it is a bug in the firmware and you can report it here.

Awesome build! I would love to build something similar as I just got my own 3D printer. While the holder for the pen seems straight forward, there isn't much info on the electronics.

Do you have a list over the parts you used?
Would be very grateful if you could elaborate on the construction process! :)

Feb 6, 2016 - Modified Feb 6, 2016
mouseas - in reply to NeoID

The electronics aren't very well covered here or where the drawbot is inspired from, unfortunately. You'll need two stepper motors, a servo, an Arduino Uno (or Uno shield compatible, like a Mega), and a motor driver shield like this one. Then you can download the software from http://www.makelangelo.com/ . I'm using the instructions at http://learn.marginallyclever.com/index.php/Makelangelo_2.5.2 for mine. I have mine mostly working as of last night. You'll also need a bead chain. I found a suitable, cheap one on eBay searching for window blind parts. (example)

@mouseas: Regarding the window blind parts... I've brought them so thanks a lot for the link. :)

However, while waiting for them to arrive... what version of the drivegear did you use?
I assume either FCE.1501.02.003_44mmp6drivegear or FCE.1501.02.004_31mmp4drivegear?

Thanks! I have a Arduino Uno lying around collecting dust, so this will be perfect! :)
What did you use for motors and servo? I suppose you used Nema 17 stepper motors such as these, but what about the servo? :)

I actually used some salvaged steppers ripped from a broken printer, but I'd recommend a pair of Nema's if you have them. As for the servo, it's a typical small hobby servo. I just bought a random cheap one off eBay and it lined up perfectly with the slot on the printed part.

Feb 25, 2016 - Modified Feb 25, 2016
Chrome98 - in reply to mouseas

I'm still wondering what servo as well. There are quite a few sizes of standard hobby servos. Sooo... 9G, 12G, etc. ?

Thanks. I was finally able to zoom in enough to see, but thanks for your reply!

I'm having two problems, and I'm hoping ya'll can help me sort them out.

First, my bot will sometimes jump one bead in the chain while drawing, almost always when the pen goes up or down. How can I keep this from happening?

Second, the output is shaped more like a ultrasound image than a square. Horizontal lines are curved upward from the middle, and vertical lines aren't parallel. Also, Y steps seem to be smaller than X steps; that is, the bot thinks it's moving 10mm Y, but it's actually moving more like 7mm. What do I adjust (in the Makelangelo GUI or in the Arduino sketch) to get the shape and x:y ratio to come out right?

I've sorted out the second problem. I needed to (a) invert both motor directions, and (b) take precise measurements of my printer and paper, mark down the center point, enter the values into Makelangelo, and put the pen tip at the center point. Once I'd done all that, everything was nice and square.

As for skipping, it happens when the pen lifts/drops, because of the way the weight hits the board and bounces. I'll need to make some adjustments, but I think once I soften the bounce from the servo. Is there some way to get the servo to move more slowly?

Very beautiful design, I'm learning a lot from you, thanks a lot :)

Can you tell me where you got those ball chains? The ones I find when I'm looking on amazon or ebay or aliexpress are different diameters, or 60cm length only. The plastic ones I can't find at all. Any idea where to source these? Thanks a lot!

I bought 12 feet of ball chain at home depot in the lighting department. I haven't finished my bot but it seems to fit fine with the printed pulleys.

I got mine off eBay, I had to search for the plastic beaded chains used in some types of blinds. Here's the one I bought: http://www.ebay.com/itm/371107906538?_trksid=p2057872.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT

Ah, perfect. That's a very affordable solution, thank you :)

Wow!! I want to make this.

this is so cool! is it complicated to build. also what is the average price for the parts?

I can't even figure out how to get a picture to show up :(

What pixel did you use for Jackie Chan? Settings? thx

Resolution depends on the pen size you choose .... this was one of my early drawings so I use a big one to speed up the time ... seems to me that was about one. (1) mm

Sorry, that is not I meant. I meant pixel as in Square wave, Scribble, Norwegian Pixel, etc.

Thanks in advance.

I used crosshatch

Does it plot from a home position ?
Because I was thinking that if more colored pens were used it could make a better picture, if those colors were separated in the picture in a red blue and green as like old printers, but that each color were to be used as a separate pass, as to do one layer in red then another in red and so on depending on how many colors are used as per pallet.

Its home position is the middle of the paper, halfway between the motors and halfway down from the motor to the bottom of the area your bot can move within (that is, a little ways above the floor if your board is sitting on the floor). You'll need good measurements for everything to be square.

Yes it starts from an
an home position


do you think it could paint a shape directly to the wall in a bigger size? Is my understanding correct that the size is determined by the chain length?

I never test it with big drawing on walls but for sure you can. It is not determined by chain length but from the setup on software ( for sure you have to use adequate chain length ) Also probably you have to make adjustment on counterweights

Hello !
Is it accurate enought to use 4 pens for the same drawing ?
Like use a red, green, blue and black pen to draw on a wall ?
(I've not seen the software yet, but well... Any picture software will let me output the 4 pictures needed).

Thanks !

the software allows to use 4 pen ... but I do not tested it yet

In trying to print your design, i find that FCE.1501.01.005_fix.STL is not manifold (watertight). Please fix!

sorry for delay, ... I've uploaded a FCE.1501.01.005_fix_r01.STL that seem to be OK ... let me know

Ok, sorry
I'm abroad for work now .when I'll be back I'll have a look at what appened

Comments deleted.

If you read the instructions there's written that I use captive nuts..... Better explanation of how to, in my previous things

Which cog fits 3.2 mm ball chain?

I really like the design! Is the code, that you linked in the description, set for pulleys or a ball chain?

It doesn't matter, the only important thing is to set the correct diameter of the pulley in the setup of software. Also be sure that smooth cord doesn't slip, you have to wrap them around the pulley several times. With ball chain or any synchronous transmission this is avoided.

Sounds good, thanks! What power supply does the makeangelo use with the RUMBA board?

Nov 18, 2015 - Modified Nov 18, 2015

Ciao Dagizmo,
il tuo progetto mi piace molto ma ho un paio di cose da segnalare, scriverò in inglese così magari è utile a tutti.
1) the FCE.1501.01.005_fix part is supposed to be printed with a nut inside, i think, but i don't see any warning of that in the main page of this project. I think it's better to give a warning and/or to put a modified part that don't need to stop the print.
2) i'm also using a DK electronics motor shield but my L293D chips are about to melt in 3 seconds as soon as i send the first movement command. I've uploaded the firmware with #define MOTHERBOARD 1 (i suppose to have this version, i tried to upload the firmware for the 2nd version but nothing happen when i send a command, so i'm pretty sure that i have the 1st version) without changing anything in the code, it's just to test the electrical part.
Did you had to modify some pin assignment or something other to use the DK motor shield instead of an original Adafruit shield?
Thanks in advance for your reply.

ps: i use a 12v 1.25A external power supply and i've removed the power jumper, so the motor are running with a separate power line respect to the arduino. Every L239D can provide 600mA with 1200mA of peak current, so they shouldn't become so hot.
With my power supply i should be able to run properly my two stepper, but i'm unable to have an acceptable movement.

1) It seems to me that is clearly written in the instructions section : .... In trasmission GEARS and the PEN FIXING, I used captive nuts so remember to pause the gcode and insert the nut as explained in my previous things ....
2) I did not modified any pin assignement an I use a supply from coaxial plug on arduino. But sometimes has appen that I forget to switch on the supply and everithing also worked without any problem with the USB supply only. Also my driver chip are very hot and the first times I was afraid that everythig goes on fire but nothing appen even after a lot of hours of plotting. When I get time I would like to add a fan

Thank you for the answer.
I don't know how, but i've completely missed the instruction section, sorry.
What kind of motors do you use?
I think that this is the only remaining possibilities.
I'm using two 42BYGHW811, standard 3D printers stepper motors, but probably they are too big to be handled by the L293D.

Comments deleted.

Salve... Trovo molto interessante il suo progetto... Le faccio i miei complimenti... Con la mia stampante 3D ho stampato tutti i pezzi, ho comprato arduino 1 con un motor shield della dk electronics, e 2 motori nema 17, assemblo tutto come da tutorial, lancio il programma scaricato da gitub, ma non parte... Allora lo scarico direttamente dal sito di makelangelo. Una volta caricato il firmware su arduino apro makelangelo.jar faccio il collegamento e mi riconosce il tutto..... Il problema è che riesco a controllare solo il servomotore , tutti e due i motori non accennano a muoversi... Premetto che ho provato più tipi di nema 17, ma nulla!!! Speravo che lei avesse la soluzione al mio problema... Sono giorni che impazzisco... Mi potrebbe aiutare??? Grazie

Sep 10, 2015 - Modified Sep 10, 2015
daGHIZmo - in reply to brasso

Salve, mi spiace per i problemi, e capisco la frustrazione che si prova dopo infiniti tentativi andati a vuoto. A me è successo praticamente per ogni progetto che implicava dell'elettronica visto che non è proprio il mio campo. A volte funziona anche solo mollare tutto, farci una dormita e riprendere la lotta a mente fresca (si fa per dire perchè il mio tempo libero va dalle 22 alle 2 di notte) Ma mi sembra che non sia questo il caso visto che pare la cosa dura da più giorni. Io sono due settimane che lotto con un braccio robotico derivato dal MeArm di cui ho dignitosamente ridefinito la parte meccanica ma appena cerco di gestire più servo contemporaneamente comincia a saltare come un canguro impazzito. Sono passato attraverso innumerevoli sketch e librerie dedicate oltre che a potenziometri o condensatori di tutte le taglie. Mi sà che ho magicamente risolto questa sera attrezzandomi con una scheda pololu dedicata a gestire i servo. Forse ho divagato un po ma era per cercare di tirarti su il morale. Sinceramente con gli elementi che hai fornito non saprei molto come aiutarti. Come ho accennato i componenti meccanici che ho disegnato sono universali, nel senso che tutte le versioni di drawbot polari meccanicamente si equivalgono la differenza la fanno poi con il software e l'elettronica. Io inizialmente volevo partire dal Polargraph (euphy) ma ha l'elettronica dedicata e ho ripiegato sul Makelangelo che usava un semplice arduino con una shield per i motori di facile reperibilità.
Un problema potrebbe essere quello di non avere installato java sul computer ma se mi dici che parte il makelangelo.jar allora non è questo il problema. Rimarrebbe solo la possibilità (penso) che non hai detto ad arduino di caricare le librerie amf (per lo shield dk sono quelle della V1 e non dell'ultima v2 per una adafruit originale) nello sketch prima di trasferirlo all' arduino UNO - mettere la cartella AFMotor drawbot nel percorso librerie di arduino - e nello sketch firmware_ams.ino - #define MOTHERBOARD 1 // Adafruit Motor Shield 1

La ringrazio per la pronta risposta... Era come diceva lei.... L'impostazione del software, è bastato mettere motherboard 1 e tutto è funzionato.... Grazie anche dello stimolo.... Quello serve sempre.... Adesso mi è rimasto solo un piccolo problema che non riesco a risolvere... Cioè che il programma makelangelo.jar non mi apre il menù per impostare la macchina e il foglio.... L'ho provato su 3 computer ma mi da lo stesso problema.... Lei che versione usa??? Sto pensando che sia un bug del programma... La ringrazio di nuovo... È stato essenziale...

Sono contento che che hai risolto. Per quello che riguarda invece il software e' vero pure il fatto che il makelangelo V2 non mi consente di modificare le dimensioni del foglio, quindi uso il V1. Anche se devo dire che ho provato ad usare la versione 2 senza usare il setup del foglio e ha funzionato egregiamente ritrovandomi i settaggi fatti sulla V1 quindi ho il sospetto che li "raccatti" in qualche modo da quelli settati nella release 1. Questa sera, per verifica, provo a modificarli vistosamente nella 1 e vedo che succede nella 2

Dove posso trovare la v1???

confermo che avendo installate entrambe cambiando i settaggi sulla V1 si trasferiscono anche sulla v2. Nel frattempo mi sono accorto di aver fatto confusione tra le versioni hardware (a cui nel frattempo si è aggiunta anche la 3.2 ) ed i software. Quello che identificavo come v1 in effetti nell' "about" è la release V5 e quello che identificavo come v2 è la release V 7.1.1. Purtroppo nella pagina delle old release di github partono dalla 7 e la v5 non mi pare più reperibile. Se mi fai avere una mail provo a spedirtela

Sarebbe troppo gentile... La mia mail è: [email protected] grazie molte

Hello, cool design and i'm already making it. What software do you use to make/send the code?

as I wrote for mine I used Makelangelo
on https://github.com/MarginallyClever/Makelangelo you'll find what you need in relation to the electronics used (is a java .jar launched by a .bat 32 or 64)
Also more information can be collected at https://www.marginallyclever.com/blog/drawbot/

You can use also other codes available on the web ..... try to have a look at http://www.polargraph.co.uk/source-code/

Amazing! How you used motors - 1.8 deg or 0.9 deg?

sorry, I misunderstood the question ---- they are 1.8 deg

really I do not know cause I do not made any modification to the firmware, only adjustment related to the dimension of the print area, the interaxis and diameter of pulley.
Also there are no jumpers on motor shield that allow to set the step size of motors like on Ramps (as example)

bello complimenti ma che elettronica hai usato ?

nice compliments.
But what electronics you use?

Arduino 1 R3 & Adafruit motor shield V1 ( però entrambi cloni )

I can't find the Ball Chain (with the correct dimensions) at all. I decided to print the finishing line spool for the RichRap 3DR instead, I hope that works.

Where do you get the Ball Chains from?

I get them from a local hardware store ( in Italy )
It will works with every kind of pulley and chain, someone use synchronous belts also. You have just to remember to fill the correct pulley diameter in the setup of the software.
I have uploaded a photo with the three kind of ball chain I tested

What are the diameters of the 4 pulleys you provide for?

Are you using Nema 17 motors? What is your power supply you are using? I'm using 12V 1 amp but sometimes doesn't have enough guts to pull the gondala up.

Yes I'm using nema 17 but I do not have problems related to power supply. I use the 9V plug on arduino board and it also works with the usb only (cause often I forget to plug the power)

hi This is fantastic! I want to build do you have a instructable to build this?

hi ... I would like to make available detailed instruction of the assembly, but, at this time, I do not have enough time to make anything better .... I leave it as a working in progress also to allow me to provide further details in future

Very cool! What size nut and bolt?

M4 for the pen holder and M3 for the drive gears

Thanks for the shout-out! Your version looks very professional.

Thanks to you also, my version starts from yours ....... great work !!

Nice and elegant design. I like the idea of the rotating rings around the pencil .
It looks like the pencil is not exactly in the center of the rings. Does this create any issues with swinging?

Yes, pen is not exactly in the rings center, but this is how I try to manage different pen sizes. It seems also that this not make influence on the drawings. Only on a perfect circular shape I found slight differences between crossing diameters, but I still do not know if this depends on this or from the drawbot setup.

I really like the design! Is the code, that you linked in the description, set for pulleys or a ball chain?