Robotic Project Named as Nickel-O-Matic

Overview

The Nickel-O-Matic robot was developed to print a custom message on both sides of 1 1/2” diameter blank wooden nickels using inkjet technology.

Details

In the design, a Propeller Chip is used to control the Inkjet system and much of the mechanical movement is controlled using a BASIC Stamp 2. A total of 4 hobby servos are running the two controllers along with 5 IR sensors, 1 inkjet head, 1 DC vacuum pump, and 3 stepper motors.

To make the troubleshooting and design simpler, a number of modules were used to build the system with the inkjet system as the most complex. All the elements of the inkjet module are controlled by a Propeller Chip using a simple Darlington transistor array since the inkjet required fast/accurate timing. A spindle that rotates the wooden nickel under the inkjet head is located at the center of the inkjet module. A stepper motor is used to turn this spindle so that a repeatable placement of the nickel under the inkjet head will be allowed. A second stepper motor coupled to a lead screw and slide mechanism is used to move the spindle horizontally under the inkjet head.