The 1st Scientific Conference for Aerospace Researches & Applications Sudan (SCARA-1)-2021

Paper No:SCARA-1.07-12, (53)

Design and Implementation of CNC Writing

Machine Based on Arduino Micro-controller
Asaad musaab Ali Yousif ∗§ ,Mohammed
Alamein Taha Babker Ibrahim ∗¶ ,Mahmoud Osman Suliman Omer ∗k ,
Marwa Mahmoud AbdAllatif Mohamed ∗∗∗
∗ Karary University, Khartoum,12304, Sudan
§ [email protected], ¶ [email protected], k [email protected],
∗∗ [email protected],

Abstract
This paper discussed the design and implementation of a Computer Numerical Control (CNC) machine for writing or sketch
by employ parts of computer scraps (DVD-ROM). The Arduino Uno used as the controller for this project with using Inkscape
program, which converts images and text into g- code format and then sends this g- code to the processing3 program which is an
interface the connection between the arduino and the computer and the language of the CNC machine. The g-code includes a set
of x y z coordinates that are sent to the motors, the Z coordinates are transmitted to the servo motor that directs the movement
of the pen, the Y coordinates are sent to the stepper motor 1 that directs the horizontal movement of the DVD rail and the
X coordinate is send to the Stepper motor 2 that directs the vertical movement of the DVD rail. This project can be used in
logo Design. CNC machines can be utilized ceaselessly 24 hours every day, 365 days per year and just should be turned off for
intermittent support.
Key words- Computer Numerical Control; Disk Video Drive; Scalable Vector Graphics
I. I NTRODUCTION The transformation can be described by multiplying the
matrices sequentially:
In today’s environment, any industry’s primary requirement
w
is to manufacture vast quantities of high-quality products at At =w Ac .c AA .A AP .P At (3)
low production and installation costs, with a high surface
The matrices should be constructed as follows:
finish and high dimensional accuracy. As a result, a machine    
controlled by a computer can achieve this. They are basically 1 0 0 Lx Cc Sc 0 0
 , AA −Sc Cc 0 0 ,
0 1 0 Ly  c
known as Computer Numerical Control (CNC) machine [1]. w
 
Ac = 0 0 1 Lz   0
The Computer Numerical Control machine is a form of 0 1 0
automation system that incorporates the use of computers 0 0 0 1 0 0 0 1
   
to control machine tools in the manufacturing industry. A 1 0 0 0 1 0 0 Px
0 CA CS 0 P
computer program is designed for an item, and machines are A  , At = 0 1 0 Py  .
 
AP = 
programmed using the G-code language, which effectively  0 −SA CA 0   0 0 1 Pz 
controls all elements such as coordination, axis motion, po- 0 0 0 1 0 0 0 1
sition, and speed [2]. This paper major goal is to employ (4)
DVD-ROM to implement a CNC machine that can be used The offsets of the pivot point of the two rotary axes A and C
to write or sketch [3]–[5]. relative to the workpiece coordinate system origin are defined

II. S YSTEM M ATHEMATICAL M ODEL

A. Mathematical Model
Homogenous transformations provide a simple a means of
expressing multi-axis machine kinematics mathematics A 4x4
matrix can represent a transformation of the space H. and can
represent translation and rotation transformations [6]. Given a
point x,y,z described by a vector

u= x y z l (1)

Then its transformation v is represented by the Matrix product

v = H.u (2)
Fig. 1. General Configuration and coordinate systems.

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 The 1st Scientific Conference for Aerospace Researches & Applications Sudan (SCARA-1)-2021

Fig. 3. Circuit Diagram.

Fig. 2. Mechanical system design.

in these equations by Lx, Ly, and Lz. Furthermore, Px, Py, and
Pz are the relative distances between the pivot point and the
pen tip location, commonly known as the pivot point’s ”joint
coordinates” [7]–[9]. When multiplied in accordance with (3),
we obtain:
Vx = CC Px + SC CA Py + SC SA PZ + Lx
Vy = −Sc Px + Cc CA Py + CC SA PZ + Ly
Vz = −SA Py + CA PZ + LZ

CC Sc CA CC SA Vx
 (5)
−SC CC CA Fig. 4. Block diagram of CNC machine.
w 0 Vy 
At =  
 0 −SA CA Vz 
0 0 0 1 Through the Universal Serial Bus, the Arduino board’s micro-
By equating the last column of (5) with the tool position vector controller is connected to the computer system (USB). A CNC
Q, it is possible that will write: shield driving board connects the stepper and servo motors of
  the axis (X,Y, and Z) [11], Figure 3 shows the complete circuit
Qx
Qy  diagram of the proposed system.
Q= Qz 


1 D. Block Diagram
 (6)
1) Stepper motor: A stepper motor is a mechanical device

CC Px + SC CA Px + Sc CA Py + SC SA Pz + Lx
 −SC Px + CC CA Py + CC SA Pz + Ly  that transforms electrical energy to mechanical energy. It’s
= 
also a brushless, synchronous electric motor with the ability
 −SA Py + CA Pz + Lz 
1 to partition a full rotation into a variety of steps. When an
electrical pulse is applied to the stepper motor, the magnet
The right-hand vector can also be expressed as the product operation theory is used to convert the motor shaft into a
of a matrix and a vector, yielding: precise distance. The stator has eight poles and the rotor has
Qx = CC Px + SC CA Px + Sc CA Py + SC SA Pz + Lx six poles. To complete one revolution, the rotor will require
24 electrical pulses to move the 24 steps [11]. Stepper motor
Qy = −SC Px + CC CA Py + CC SA Pz + Ly (7)
for the DVD-ROM drive A plotter can be made by automating
Qz = −SA Py + CA Pz + Lz a tow motor to manipulate the coordinates (X, Y) of an axis
with a flexible head [13], [14].
B. Mechanical system design 2) Servo-motor: Servos are operated by transmitting a
Plywood was used for the manufacture the External frame variable width electrical pulse, also known as pulse width
that the DVD rail and arduino is fixed on [10]. The mechanical modulation, across the control line (PWM). There’s a mini-
system design show in figure 2. mum pulse, a maximum pulse, and a repeating frequency [3].
Servos are operated by transmitting a variable width electrical
pulse, also known as pulse width modulation, across the
C. Electronics system control line (PWM). There’s a minimum pulse, a maximum
This section will go over the electronic components and pulse, and a repeating frequency [15].
wiring that we’ll need to design and build our machine. 3) L293D motor driver: The signals for controlling the
The Arduino Uno, shield with L293D driver model, two stepper motors are usually generated by a micro-controller
stepper motors, one servo motor, power supply, pen holder, and or another source with a limited output current. Between
some cables are the primary electronic components required. the micro-controller and the motor, motor drivers supply the

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 The 1st Scientific Conference for Aerospace Researches & Applications Sudan (SCARA-1)-2021

Fig. 5. simulation circuit Fig. 6. graphics window.

correct voltage level for the motor as well as the increased

current required.
An integrated circuit chip called a motor driver is used to
operate motors in autonomous robots. Motor driver is open
source firmware that runs on an Arduino Uno and controls
stepper motor signals using G-Code commands [16].
4) Arduino Uno: Arduino Uno is the heart of the machine
that will control the movement of each actuator depending
on the instruction received from the computer. The Arduino
is made up of a physical programmable circuit board and
software, known as the Integrated Development Environment
(IDE), that runs on your computer and is used to create and
upload computer code to the physical board [17], [18]. Fig. 7. Flowchart

E. Software Program
1) Inkscape: Is a vector graphics editor that is free and
open-source. Vector graphics, such as illustrations, diagrams,
line arts, charts, logos, and complicated paintings, can be
created or edited with this software. Scalable Vector Graphics
(SVG) is Inkscape’s primary vector graphics format; however,
numerous additional formats can be imported and exported.
Inkscape can draw basic vector forms and text (such as
rectangles, ellipses, polygons, arcs, spirals, stars, and 3D
boxes) [19].
2) Processing: Preparing is an open-source graphical li-
Fig. 8. Case one.
brary and incorporated advancement climate (IDE) worked
for the electronic expressions, new media workmanship, and
visual plan networks fully intent on showing non-software program. (Machine time, way length, MAX MIN point of the
engineers the basics of PC programming in a visual setting. direction, the number of fragments, circular segments, and so
Handling utilizes the Java language, with extra rearrangements forth) There is a trace of G, M codes when the mouse. Shows
like extra classes and associated numerical capacities and the place of the direction, the focuses of the circular segments.
tasks. It likewise gives a graphical UI to improving on the Showcases an equidistant revision. There is an edge by outline
accumulation and execution stage. Handling incorporates a route, with discharge in the status bar the current boundaries
sketchbook, a negligible option in contrast to a coordinated of the program. There are show data about the thing, when
advancement climate (IDE) for getting sorted out projects [20]. tapped on it with the mouse in the designs window and much
3) Proteus: The software is used mainly by electronic more [22].
design engineers and technicians to create schematics and After running the NC, the converted G-code image will appear
electronic prints for manufacturing printed circuit boards. in the graphics window.
Proteus was employ to simulate motors movement as shown
in Figure 5 [20]–[22].
4) NC Corrector: NC Corrector is a free manager visualizer III. RESULTS AND ANALYSIS
programs for CNC machines (Gcode). Commodity in DXF, A plotter machine was ready to use after testing and
APT organization. Shows an assortment of data about the calibration. Because the plotter machine was designed and

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 The 1st Scientific Conference for Aerospace Researches & Applications Sudan (SCARA-1)-2021

built according to specifications, it can plot and write. A [8] du Preez, R., 3d 6-dof serial arm robot-kinematics and implementation
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arrangement of hardware with a combination of Gcode gives
better ac-curacy and reduces the work load. G-code makes it
simple to locate information about the locations of all stepper
motors that are moving, because the state of our moving
motors is displayed directly on the computer, allowing us to
start or stop the machine whenever we need it. Making a
compact machine allows for greater job flexibility. The pen
can be replaced with a pinhead, laser head, strong drill, or
any other tool for a variety of applications, allowing it to be
used for milling as well as drilling.

ACKNOWLEDGMENT
This work was supported by Karary University. The authors
would like to thank the department of electrical engineering
at Karary University for their continuous help and support

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