How to optimise your plotter’s geometry and drawing area

The geometry of the plotter - the length of its arms, the arcs they can sweep through, the relation of those arcs to other aspects of the machine - and its drawing area are closely related. The former determines the latter.

Understanding the plotter’s geometry will help make clearer the relationship between the two by visualising them.

Optimising the plotter’s geometry means designing it so that:

  • the length of the arms is suited to the power of the motors and the system’s mechanical limitations

  • you obtain a drawing area that is useful in both size and shape

  • the movement of the motors to cover that shape is around their centre positions (and not at the extremes of their sweep), and uses not too much or too little of their sweep.

The module will help you do this.

Decide on the length of the arms

As the arms are made longer, the more power is required to drive them, and the more mechanical limitations of the system will affect the results (i.e. the more the arms will droop and twist). You will always have to trade off accuracy and size.

Experience shows that arms of about 8cm work well even with the cheapest of servos, and produce drawings of an adequate size - 14 x 9cm - which works well on sheets of A5 paper.

The arms don’t need to be exactly the same length. See Understanding the plotter’s geometry for examples of how this makes a difference to the plotter.

Measure the actual arms

Unless you’re a very accurate worker, the actual length of each arm is likely to be a little off. Measure these values (in cm) - we will use them in the next step.

Model your BrachioGraph using

The contains a BrachioGraphTurtle class. The file contains a module with an example instance of a BrachioGraphTurtle, that you can use in different ways (you may prefer to copy this file and leave the original untouched).

You can use the class and the example instance:

  • as a script, by running python, which will execute all the commands in the file

  • interactively in a Python shell, executing commands one by one, e.g.:

    >>> from turtle_plotter import BrachioGraphTurtle
    >>> bgt = BrachioGraphTurtle(inner_arm=9, shoulder_centre_angle=-45, shoulder_sweep=120, outer_arm=7.5,  elbow_centre_angle=95, elbow_sweep=120)
    >>> bgt.draw_grid()

The examples below will use the script, but you can equally well use the shell to do the same things.

Draw the model

An example definition is provided in Edit its inner_arm and outer_arm values, then run python

You can choose what to draw by editing the commands in the script:

  • a grid

  • arcs representing sweeps of the outer arm for positions within the sweep of the inner arm

  • the inner and outer arms at various positions within the sweep of the inner arm

  • an outline of the plotting area

The module draws all of these by default:

'Plotting area'

The grid

Draw a grid with the draw_grid() method. The grid is based on the dimensions of the plotter at the moment it was initialised; although you can can change its arm lengths afterwards, the grid will not reflect this.

The arcs

Use draw_arcs() to fill in the drawing area with a series of arcs.

The arms

Use draw_arms() to show the positions of the arms at various intervals.

The outline

draw_outline() will trace an outline of the drawing area.

Discover the optimum configuration for your BrachioGraph

Start by defining your BrachioGraphTurtle instance with the exact arm lengths you have built, or the ones you propose to build.

120˚ sweep values for the inner and outer arms are a safe starting-point, along with values of -60˚ and 90˚ for the inner and outer centre positions respectively (if the arms are of equal length):

>>> from turtle_plotter import BrachioGraphTurtle
>>> bgt = BrachioGraphTurtle(inner_arm=8, shoulder_centre_angle=-60, shoulder_sweep=120, outer_arm=8,  elbow_centre_angle=90, elbow_sweep=120)

Draw the grid and an outline:

>>> bgt.draw_grid()
>>> bgt.draw_outline()

See Understanding the plotter’s geometry for how to interpret the output.