Problem
Build a low‑cost writing robot with smooth motion and consistent pen pressure.
Approach
Gantry design, spring‑loaded pen holder, belt tensioning, steps/mm calibration.
Result
~95% path fidelity on vector shapes; clean curves and repeatable lines.
Build Notes
- 2‑axis cartesian gantry; 3D‑printed PLA carriages and off‑the‑shelf rails.
- Spring‑loaded pen holder maintains contact without gouging paper.
- Simple print‑measure‑update loop for steps/mm; basic skew correction.
- Paths generated from SVG or parametric functions; streamed over serial.