Open‑Source 4‑Axis Pen Plotter | Multi‑Axis Drawing Robot

This dynamic drawing solution derives from the Wide‑Library writing‑machine platform. Four independent motors drive the whole gantry system: dual synchronous motors for X‑axis gantry travel, one motor for Y‑axis carriage movement, plus one dedicated Z‑axis motor for pen‑lift / pen‑drop actions.

The V3s Python controller runs local Python scripts to parse trajectory datasets, commanding BeeS42 closed‑loop stepper drivers to achieve precise multi‑axis linkage and path interpolation. The matched open‑source plotter host software implements the full workflow: import assets → trajectory generation → simulation preview → export NPY trajectory files.

Two image‑processing modes are available: Canny edge detection for photographs, and skeleton‑line extraction for line‑art sketches. It supports authentic‑stroke Chinese characters (Hanzi Writer Data) and natural‑style English handwriting (Tegaki handwriting skeleton). Mixed Chinese‑English layout, image‑text composition, on‑screen motion simulation and NPY file export are fully supported. Built‑in Gaussian smoothing, equidistant resampling, contour merging and greedy‑neighbour sorting optimise drawing paths and reduce redundant pen‑lifting.

Beyond pen‑plotting, the underlying multi‑axis control framework can be repurposed to build laser engravers, fluid dot‑dispensing machines and desktop‑grade 3D printers for maker‑lab and educational‑STEM scenarios.