Tomahawk is an actuator device that uses a pen to plot or draw what you want to using a simple command.

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It has a two axis control and a special mechanism to raise and lower the pen. The plotter has a hole in its base where the pen goes through. It was designed to print on both paper or any surface such as a wall; simply place the plotter against the surface and the pen will draw away through the hole.

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It uses Arduino, a simple microcontroller platform.  We have also made a software which uses  Inkscape (software) that converts pictures into G-code and directs G-code to the device. These G-code gives the direction for printing and the device moves accordingly. It is the pen that does all the magic in the end.

Each axis is powered using a single stepper motor and belt. Pen control is achieved using a servo. Pen control is achieved using a servo. Each axis is powered using a single stepper motor and belt.