Two Degree of Freedom Plotter Using Robotic Arm

Abstract

This paper represents a two degree of freedom (DoF) robot arm as a plotter system. A pencil tool is used as the end effector of the robotic arm and experimented in drawing alphabets, for example ‘IIUM’. The control mechanism of the prototype is designed using Arduino controller. A user interface is also designed to send necessary commands to the hardware application board using serial communication cable. Through the experimentation, the movement of each joint of the robotic arm is presented in this paper. The result proves the feasibility of the system which could be improved in future research in drawing complex images.