The Krasti Yantror

Abstract— Krasti Yantror is a plotter that offers the fastest way to efficiently produce drawings. The Krasti Yantror which is basically a Selective Compliance Articulated Robot Arm (SCARA) has been implemented in the current work where in the robot plots the input given from the computer on the drawing board using ATMEGA 32 microcontroller on a open-source physical computing platform Arduino UNO R3 board. The Krasti Yantror has a two axis control and a mechanism to raise and lower the pen. Each axis is powered using a single servo motor. Pen control is achieved using a servo. SCARA is an autonomous robotic arm with three Degrees of Freedom (DOF) and two joints which are flexible along the X,Y axis but rigid along the Z axis. This arrangement
The design of a given arm system will often incorporate principles of mechanical engineering, electronic engineering and computer science. The term 'robotics' was coined by Isaac Asimov in his science fiction short story called 'Liar' . Robot is an electro mechanical machine which is guided by a electronic circuitry and computer program to perform various operation. A robotic arm is a robotic manipulator, usually programmable, with functions similar to that of human arm. Krasti yantror is a plotter that offers the fastest way to efficiently produce drawings. Yantror will be able to print by moving a pen or other writing device across the surface of a piece of paper. This means that Yantror are vector graphics devices, rather than raster graphics. Yantror can draw complex line art, including text, but do so slowly because of the mechanical movement of the writing device such as pen. SCARA which refers to Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm is used to make a writing robot wherein the robot plots the input given from the computer on the drawing board. The SCARA robot is an X-Y Plotter. The plotters available in the market are Cartesian robots, cylindrical robots and Spherical robot/Polar robots. Cartesian robot are used
BEARING
In this paper, linear and ball bearing are used. Linear bearing is used for linear movement in guiding shaft and ball bearing is used for rotational movement in free end pulley support. Based on the outer diameter of guiding shaft, both linear and ball bearing are chosen

F. ACRYLIC BLOCK
Since it is one time machine design, cost is one of the main factors. So, it is best alternative of Mild steel material. Drilling can be done in lathe or milling machine. While drilling the through hole for inserting linear bearing, through hole must be greater inner diameter of the linear bearing

G. ARDUINO UNO R3 BOARD
The Uno is a microcontroller board based on the ATmega328P. It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.. You can tinker with your UNO without worrying too much about doing something wrong, worst case scenario you can replace the chip for a few rupees and start over