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# Vertical printing machine

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It's a plotter like device to plot over a cardboard or a canvas

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### Vertical printing machine

1. 1. Painting machine based on Hektor: http://hektor.ch
2. 2. Motivation The need to print on an arbitrarily large format ● Vector graphics will be scaled up or down to fit  ● the desired format The system needs to be easy to carry around ● not heavy – not large – if possible, autonomous (no PC attached) –
3. 3. Physics L (0,0) 2 2 2 a =x y 2 2 2 b = L− x   y a b a­­ b­­ a­­ a++ b++ b­­ (x,y) a++     b++
4. 4. Software design moveTo(x,y) ● starting from a previous point (x0,y0) – Bresenham's line algorithm? – both motors will run at once? – Reverse equations: ● 2 2 2 L a −b 2 2 x= y=   a −x  2L
5. 5. Non linearity Linear steps create curves instead of straight  ● lines  Steps Equivalent XY motion 4100 1600 4000 1400 3900 1200 3800 3700 1000 3600 800 3500 600 3400 3300 400 3200 200 3100 3000 0 0 500 1000 1500 2000 0 2000
6. 6. Line drawing Use Bresenham algorithm and then convert  ● coordinates Only needed when drawing lines ● If pen is up other choices are possible ● It works ok!! ● Problem: Both motors need to work in sync ● Unpredictable next step – Not ramp up/down speed  – But painting works better at a fixed pen speed!!     ●
7. 7. Samples
8. 8. Motor detail