8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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httpwwwinstructablescomidPosterBot3a-Make-a-Marker-Writing-Robot-out-of-an-OALLSTEPS (1 of 21)02102007 092209 pm

8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create - Instructables Cool How To amp DIY [category tech]

PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobotCreate

share

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by W_worldon Sep 4 2007in tech rating

intro

step 1

step 2

step 3

step 4

step 5

step 6

step 7

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8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create - Instructables Cool How To amp DIY [category tech]

introPosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create

I decided to make this robot because Ive never had very neat handwriting so making large letters has always been difficult When I was on Student Council in

high school I always got marked down for posters that werent neat enough Like any nerd I figured If I cant do it Ill make a robot to do it for me

This robot will draw out any small monochrome bitmap onto poster paper It can mark out the individual pixels just as a printer might It works best with strings

of characters

This is a moderately difficult project which requires about $50 in parts and basic electronic skills (This doesnt include an iRobot createCommand Module andold Inkjet printer) You should be able to read a schematic and make a basic prototype or bread board Some familiarity with C or C++ is handy too

I recommend that you read through the entire Instructable before beginning your project Its important that you get the bigger picture because the process will

vary depending on your materials

Parts List

An Old inkjet printer

An iRobot Create and Command module

Electronic prototype board or bread board

Several rubber bands

Two 9-pin serial cables with at least one male end

4 PC-Mount DPDT 5v DC relays rated at least 1A

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PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create - Instructables Cool How To amp DIY [category tech]

4 2n222 transistors

4 1k 14 watt resistors

4 diodes

some wire to make jumpers with (unbraided)

~3 of 18 Bass wood

Poster marker

Butcher paper (get at least 20)

Voltage regulators (values vary)

White acrylic paint (optional)

Tools

Hack saw

Epoxy

Box Cutter or Exacto knife

Drill and bit set

Soldering ironsolder

Hot melt glue gun

Multi-meter

comments ()

step 1Get the parts from the printer

You need two parts from the printer the carriage and the paper advancer

The carriage is what the ink cartridges slide back and forth on Its a metal rack with a motor a belt a plastic strip a white ribbon cable and the actual print-

carriage (usually black) where the ink cartridges sit

You can go ahead and remove the white ribbon the ink cartridges and the clear plastic strip with the black marks

The paper advancer is a little harder to remove Its usually deep in the printer and is attached to a lot of other things

From the advancer the parts we want are the motor its gear train its axle (with the little foam wheels) and any bearings it has

Try to keep these parts in working condition

Were going to cut the paper advancer axle with a hack saw just outside the second bearing This will be our medium lowerer which is a not-too-fancy way of

saying it the thing that is going to move the marker to and from the paper

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step 2Making the control board and configuring the serial cables

Here were going to make the control board This board will control turn both motors on and off and control their directions with signals from the command

module

The ports will be as follows

PC5 (top center pin 1) - motor 1(carriage) onoff

PC1 (top center pin 2) - motor 1(carriage) direction

PC4 (cargo bay pin 1) - motor 2 (maker) onoff

PC0 (cargo bay pin 2) - motor 2 (marker) direction

Top center pin 7 - motor 1 supply

Cargo bay pin 7 - motor 2 supply

Top center pin 4 - +5vCargo bay pin 5 - grnd

Youll need to strip the serial cables and use the multi-meter to determine which colors go with which pins Remember Pin 1 is the top left pin on the female

command module this means it will be the top right pin on the male serial cable

To make the control board you will need the PC prototype board the relays diodes transistors resistors and jumpers

4 PC-Mount DPST 5v DC relays rated at least 1A

4 2N222 Transistors

4 1k 14 watt Resistors

4 1N4003 Diodes

RadioShack usually wont have everything Look for a local electronic supply store or try

DIgikey

or

JameCo

Mount and wire the components according the schematic I got this schematic from Robot Builders Bonanza 2nd edition I guess there is a third edition now but Im not familiar with it I highly recommend the book for anyone looking to continue building robots

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This next bit is going to sound like obvious advice but remember that you want the leads of the components going through to the copper side I made the

mistake of setting up almost the entire board before realizing it was upside-down

The colored cables you see running away in the photos are the serial cables that correspond to the various pins I used hot melt glue to attach them to the board

to lessen the strain on the solder joint

Ive added picture of my board so you can get an idea how to add them

comments ()

step 3Make the marker lowerer

In order to make the marker lowerer youll need to remove the black print-carriage from the larger structure as seen in the picture showing the separate

components You will need to unscrew the screws that fasten it to the belt You will also need slide out the metal rod so that the plastic piece can come out

Youll then want to attach the paper advancer to this black print-carriage piece Keep in mind the orientation of the future marker and the need for the carriage toslide without impediment

I used epoxy to attach the bearings to the carriage I found that Hot-melt Glue is handy to use to keep the parts in place while the epoxy cures By attaching a

piece of wood (bass) you can create a platform so that the marker can be rubber banded on and replaced easily The small perpendicular piece allows the epoxy

to have a greater surface area against the metal

After this is done reassemble the complete carriage

I suggest that you add a foam block or some other stopping device that will stop the marker at its vertical position Also a smaller rubber band to help the

marker return to its neutral position is helpful

While youre welcome to experiment with different mediums the best one I found was the fumeless poster paint marker its surprisingly long lasting You

should be able to buy both the bass wood and the marker at your local craft store

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PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create - Instructables Cool How To amp DIY [category tech]

step 4Adding the carriage to the robot at large

This step of all of them will be the one that will vary the most from what Ill outline here Every print carriage is different and depending how you attached

your marker lowerer you may need to mount it in an entirely different way

So with that in mind let me show you how I mounted my carriage

First I cut the bass wood in a way that would let me attach it to the cargo bay I epoxied the pieces together and added paper to help strengthen the joint

Next I drilled holes in the wood that lined up with the holes on the cargo bay I was able to screw down the wood pretty securely

This next step gets a little fuzzy I added balsa wood extenders and smaller pieces to take some of the stress It just so happened that my print carriage was just

high enough that I was able to raise it an 18th of an inch (by cutting the extender and reattaching it to the top of itself) in order to get the marker in just about

the perfect marking position You can trim this position by moving the rubber bands that hold the marker

I also painted all the wood white It was amazing how a little paint made the robot look so much better

Youll also need to run wires out from the control board to the motors I recommend taking the extra wires from your serial cables and using them I used hot-

melt glue to attach them at the right points to keep them from getting tangled

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step 5Calibrating your robot

Connect the serial cables (one to the top center and the other to the cargo bay port) and reattach the wood leaving the PC board in the cargo bay

One of the first things youll need to calibrate are the two control motors The output from the command module is 20V this is likely far too much for the

motors You can add voltage regulators to limit this voltage to a level that is safe for the motors

20V is far too much for most DC motors Youll need to test them at other voltages to figure out where they work best

I used old RC car battery chargers to supply the voltage to test the motors with I found out that my Carriage motor worked well at 12V and that the marker

motor worked at 6V So I just bought a couple voltage regulators rated at those voltages and 1A You want to wire these in series with the motors (that is in the

middle of one the wires running to the robot) If these regulators have a ground pin it might be a good idea to run up an extra wire from the ground on the PC

board

If you havent already installed all of your iRobot software including Programers Notepad and the virtual serial port do so now Instructions are available in the

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8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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documentation (which is completely available online here)

Follow the instructions in the Command Module in the your first project section Add the Printerc file as the main file for the code Be sure to modify the

target = in the makefile it should read TARGET = printer

Connect the serial cables (one to the top center and the other to the cargo bay port) and reattach the wood leaving the PC board in the cargo bay

Youll also want to modify the wait values on the program printerc Namely youll want to trim the wait times in the car and mark function These will

vary with the differing sizes and speeds of your motors Youll want to trim them so that the marks overlap slightly and are plenty heavy

Follow the instructions in the manual to compile download and start the program on the robot (my tip if its not working push the reset button)

You made need to spend a fair amount of time calibrating the robot Pictured below is one of my many test papers

When everything is trimmed right the robot should work like this

printerc 11 KB

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comments ()

step 6Creating and adding your own Bitmaps

Finally you have a working robot but you want it to write other things besides Instructablescom

Well heres how you do it

First you need to create a monochrome bitmap in MSPaint After opening paint Click on attributes in the image menu Set the measurements to pixels and set

the specs to (for now) 162 wide by 70 high Fill in the bullet point next to black and white When you click OK youll get a threatening warning telling youyoure about to lose all the colors in your drawing Click continue

Create a text box and open the text toolbar set your font size to 12pt and select what font you want

Go ahead and type your string out and make the box longer if you need to

When youre finished select the text and move it to the top left corner of the white area

Drag the corner of the white space up so its pretty close to the text

Now go to the view menu move the cursor over the zoom and select custom Choose 800

You can now resize the white area to 16 pixels tall

Save the bitmap as a monochrome bitmap (on the dropdown menu)

Next we have to convert the bitmap to a c array

Use the Fntcvtr application to convert your bitmap (directions available here)

This program outputs data in a char array we need this to be an Unsigned 8-bit array To convert it

open the out file in Programmers notebook

Select replace on the edit menu (CTRL-R)

In the find what box enter (apostrophe backslash)

Set the replace to 0 (zero)

Click replace all

Run another replace sequence to replace (apostrophe) with nothing (empty)

Replace all again

The purple characters should now be bluehttpwwwinstructablescomidPosterBot3a-Make-a-Marker-Writing-Robot-out-of-an-OALLSTEPS (9 of 21)02102007 092209 pm

8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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PosterBot Make a Marker-Writing Robot out of an Old Inket printer and an iRobot Create - Instructables Cool How To amp DIY [category tech]

We now need to redefine the array Manually replace Char with uint8_t (it wont turn blue)

Now just copy and past the entire array (including green specs) over the old one in Printerc

Be sure to modify the constants rows and col to the new values of the bitmap

Compile load and run Your set

Fntcvtrexe 91 KB

comments ()

step 7Share what you draw

Id love to see what your PosterBot can do Email photos or video links to wyattfeltgmailcom

Ill post them here on the Instructable

Thanks and Good luck

Heres a video of PosterBot drawing School Starts in 5x Speed The funny things at the beginning and end are a schoolhouse and bell respectively

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P B M k M k W i i R b f Old I k i d iR b C I bl C l H T amp DIY [ h]

8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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20 comments Add Comment

Sep 15 2007 752 AMdontwealllovebuda92says

nice prety costly nice

REPLY

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P t B t M k M k W iti R b t t f Old I k t i t d iR b t C t I t t bl C l H T amp DIY [ t t h]

8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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Sep 14 2007 636 AMScienceMadnesssays

So cool man but i searched for the Irobot thing on ebay and costs too much

but it is good to know that someone invented this people woul be needing things like these )

REPLY

Sep 5 2007 132 PMrimar2000says

Do you realize the great potential value of this that you have made

Imagine the quantity of applications that can have You could improve the device so that it primes on almost any surface highways walls vehiclesetc In color also AWESOME

I waited something like that for years Regrettably my abilities dont arrive to so much

REPLY

Sep 7 2007 831 AMandrewbarthlesays

the Institute for Applied Autonomy has made some similar projects check out the link

REPLY

Sep 8 2007 929 AMgkernsaysI saw something similar with a guy who had a cart attachment to his bike that would write messages as he rode around town

REPLY

Sep 7 2007 423 PMfungus amungussays

My old neighbor did projects with those guys Good stuff

REPLY

Sep 8 2007 843 AMsluggoweezulsays

This is greatREPLY

Sep 7 2007 1137 PMburnoutxdsays

it looks like teh most badass CD player ive ever seen lol good instructable

REPLY

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PosterBot Make a Marker Writing Robot out of an Old Inket printer and an iRobot Create Instructables Cool How To amp DIY [category tech]

8232019 PosterBot_ Make a Marker-Writing Robot out of an Old Inket printer and an iRpdf

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Sep 7 2007 243 PMThe Real Elliotsays

Really nice work

I got about halfway down saw the printer frame and thought oh no another spray-painting robot (See Institute comment above)

But I was sooooo wrong You freaking raise and lower a marker Held together with rubber bands Thats minimalist hacking at i ts best Double

bonus points for style

(And ditto Fungus on the video request)

REPLY

Sep 6 2007 1123 PMirissippisays

Hey will you make one for my piercing and tattoo parlor You Rock Wyatt You have a great brain

REPLY

Sep 6 2007 753 PMgilbysays

Interesting idea but can your printer tell if it is past the paper or out of paper to keep from writing Does it have any artificial

intelligence like some of the other entries

REPLY

Sep 6 2007 336 PMxrissysays

This is so cool I wish I could make it but Im not techie enough My husband could though Well done for such a creative venture

REPLY

Sep 6 2007 1053 AMPatrick Pendingsays

Great job

REPLY

Sep 5 2007 906 AMfungus amungussays

Could you make a video showing the robot doing its thing at 10x speed

Pretty please

REPLY

Sep 5 2007 418 AMBrennn10says

Oh Mylanta Brilliant

REPLY

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Sep 5 2007 402 AMKoko-Kidsays

Wow

REPLY

Sep 4 2007 808 PMNachoMahmasays

Wow Dont know what else to say but Wow That is awesome

REPLY

Sep 4 2007 755 PMDarkshotsaysHOW FREAKIN COOL I REALLY WANNA MAKE THIS BUT I DONT HAVE A IROBOT OR ENYTHIN

COOL

REPLY

Sep 4 2007 527 PMWeissensteinburgsays

I have to saythis came out way better than I had expected Bravo

REPLY

Sep 4 2007 530 PMzachninmesaysI have to agree Great job

(Is afraid of own project)

REPLY

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keywords irobot create command module poster posterbot printer marker draw write drawing writing robot inket

license Attribution-NonCommercial-ShareAlike

author W_world

published Sep 4 2007

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