AUTOMATIC WRITING MACHINE

CONTENTS
• Abstract
• Introduction
• Block diagram
• Components
• Methodology
• Overview
• Advantages
• Disadvantages
• Conclusion
• References
 ABSTRACT
• Robotic arms are programmed robot with similar function of a human arm.
• Aim : To develop a robotic arm which helps the physically handicapped
person to write.
• It is programmed to write down the words that individual wants.
• To perform the writing operations, the robotic arm will be fitted with a pen.
• It can also make you draw small sketches.
• It will be a low cost device that can enable the people who are physically
challenged to write.
• This presentation describes the basic design of writing robotic arm , how it
can be implemented in different fields.
 INTRODUCTION
• It is always difficult for physically handicapped and blind people in case of
write up.
• They always need stenographers to help them to write.
• AIM OF PRESENTATION: To provide a system which eases the lives of
handicap, blind and paralyzed people by completing their write-up work
• MAJOR ADVANTAGE: Writes the contents on paper using pen.
• It is a mechanical hand which is used to write the characters.
• Helps students to save their time from unnecessary write-up work.
• Completes their writing part with much faster , efficiently & without errors.
BLOCK DIAGRAM
COMPONENTS
1.ARDUINO UNO :
• Microcontroller board based on the ATmega328
• Achieves throughputs close to 1MIPS per MHZ.
• Aim : To increase the processing speed.
• It has 14 digital input/output pins.
• Operating voltage : 1.8 to 5.5 volt.
• Connection: Connect it to a computer with a USB cable or power it with a
AC-to-DC adapter or battery.
• Features the Atmega8U2 programmed as a USB-to-serial converter.
2.SERVO MOTOR :
• Allows precise control of linear or angular position, speed.
• Involves a sensor which is coupled to a motor for location feedback.
• A motor appropriate for use in a closed-loop control system.
• Operates based on the PWM signals received.
• PWM is used to control the motion of servo motor based on controllers
digital output.
• When the beam is at the preferred location, power supply is stopped.
• If not, the motor is twisted in the suitable direction.
Pulse Width=1ms
*minimum pulse

Pulse Width=1.5ms
*neutral position

Pulse Width=2ms
*maximum pulse
3.SERIAL CABLE :
• Required to transmit the data from computer to arduino board.
• The data is transmitted in the form of digital pulses
• Frequently used between computer and other peripherals
for data communication.
• Involves transmitting data over a single data line and one
bit at a time.

4. SOFTWARE :
• It is used for processing libraries of algorithms such as
i. Filtering
ii. Equalization
iii. Dynamic range control
iv. Reverberation sources ; Eg: audio oscillators
v. measurements.
 METHODOLOGY

The working of the system can be explained by following 7 steps :

STEP 1 : wooden frame working
STEP 2 : connecting servo motor.
STEP 3 : flexible nib pen making.
STEP 4 : connecting pen.
STEP 5 : connection of components.
STEP 6 : simulating software.
STEP 7 : dumping code.
 WOODEN FRAME WORKING

• Make X,Y axis gantry on frame.

• Cut wood according to dimensions.
• Attach pieces perpendicular to Y-axis.
• Insert the stepper motor.
• Take another ply and make another pair taking ground as reference.
• After that machine is ready to move in X,Y directions.
 Connecting Servo Motor
• We have to make z axis for pen movement.
• It is done with the help of servo motor.
• Stick servo motor on X axis gantry
• By doing so, shaft of servo motor is outside.
 Flexible nib pen making
• To make Z axis we need pen to be flexible up and down.
• Take a ball point and open the pen.
• Cut top end and refill up to 1 cm.
• Take a spring on top end.
• Take some length of sewing thread and bind this thread on
refill.
• Make hole on pen case and close the pen as it is.
 Connecting pen
• Now we stick this pen to servo motor in bigger side of shaft
using glue gun.
• Now the flexible- nib pen is mounted on a servo motor which
rotates the tip onto the writing surface.
• Bind Thread on servo motor shaft.
 Connections
• Now Stepper Motor Driver connect on Expansion Board
A4988 Driver module.
• Now connect the Arduino Uno R3 to the expansion board.
• Place the 12 volts battery on the backside of the XY axis
Gantry.
• Connect 2 pieces of stepper motor with heat sink and place
this along with expansion board on the backside of this 12
volts battery.
• Connect the 12 volts dc battery as positive and negative
connector.
• Now attach X and Y axis stepper motor on the expansion
board A4988 Driver along with the servo motor.
 Software components
• The software components of the system comprises of the
following software components:
1. Arduino Program
2. Ink scape software
3. Programming
 ADVANTAGES & DISADVANTAGES
ADVANTAGES:
• It is portable.
• Can use any type of calligraphic pen.
• Useful for writing documents.
• It uses auto writing machine.
• Stores large amount of data.
• Saves time , money & effort.
DISADVANTAGES:
• Auto writing machine need a battery.
• It stores only document and not any
other type of data such as image type.
• Pronunciation must be perfect.
 CONCLUSION
• The paper proposes the design of automated writing robotic arm
• the aim of our system is to build a robotic arm that would showcase the
writing skills.
• That based on programming and draw small images.
• the proposed system can proved helpful for different categories of people.
• Specifically for physically challenged persons to write and express their
thoughts in written manner.
 OVERVIEW OF THE SYSTEM
• The main objective of our proposed system is to make arm “write the
letters ”.
• Microcontroller unit used is arduino.
• To convert the signal into text and text into digital, software acts as a
analyzer.
• The 3 dof robotic assembly is employed to position the arm.
• The programming is done.
• This converted text is given to arduino board in the form of digital stream of
data using serial cable.
• Arduino controls the servo motor which acts as “actuators to control the
movements of robotic arm”.
• The end effectors of robotic arm is attached with tool head to hold the pen
for writing.
 REFERENCES
1. Haibin Yin, Shansheng Huang, Mingchange He and Junfeng Li, "An
overall structure optimization for a light weight robotic arm", 978-
14673-8644-9/16/ IEEE, 2016.
2. MATLAB Programming for Engineers by Stephen J. Chapman.
3. Fundamentals of Speech Recognition; Lawrence Rabiner & Biing -
Hwang Juang Englewood Cliffs NJ: PTR Prentice Hall (Signal
Processing series).
4. M. H. M. Gommel and J. Zappe, “auto portrait project: Portrait
drawings with a robotic arm,” 2015. Available at:
http://www.robotlab.de/auto/portrait.htm.
5. S. Calinon, J. Epiney, and A. Billard, “A humanoid robot drawing
human portraits,” in Proceedings of the IEEE-RAS International
Conference on Humanoid Robots (HUMANOID 2005), (Tsukuba,
Japan), IEEE-RAS, December 2016.
Thank You For Listening