DIY delta kinematics pen plotter adds versatile tool changer

András Vujovits has developed a DIY pen plotter with delta kinematics and a tool changer, distinguishing it from traditional Cartesian models. The plotter uses two parallel arm linkages to position the end effector across its work area, controlled by an Arduino Nano paired with a GRBL shield. It also includes a paper feed mechanism similar to a miniature treadmill. Vujovits created custom software to generate XML and G-code files tailored to the plotter’s delta kinematics. Most components were 3D-printed, with linear rails and belts sourced off-the-shelf. This design allows for versatile tool swapping and precise paper handling.