4.7 Aside: AxiDraw kinematics
In the next step we will begin adding the timing belt to the kit. It is helpful to understand how the belt is arranged – and
thus how the machine works – before doing so.
The AxiDraw is driven by two stepper motors, each rigidly fixed to the base of the machine. Each motor drives a timing
belt pulley that is attached directly to the motor shaft. Together, the two motors and their pulleys move a single timing
belt that loops around both motors, as well as idler pulleys on the X and Y carriages.
The X carriage contains four idler pulleys, arranged essentially in a square. The Y carriage has one idler pulley at the front
near the end effector (pen holder) and an anchor point (the tensioning block) for the belt at the back, farthest from the
pen holder.
When the left-hand motor (
M
A
) turns but the right-hand motor (
M
B
) does not, it causes the end effector to move along
the
A
axis. When the right-hand motor moves but the left does not, it causes the end effector to move along the perpen-
dicular
B
axis. Controlled movements of both motors simultaneously can move the end effector along the
X
or
Y
axes or
in arbitrary directions.
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Summary of Contents for AxiDraw MiniKit 2
Page 5: ...Part 1 Tools 5...
Page 8: ...Part 2 The Base 8...
Page 20: ...Part 3 The X Carriage 20...
Page 35: ...Part 4 Y Belt and Z 35...
Page 55: ...Part 5 Servo and wiring 55...
