For this purpose, the following FEM calculation models of the interaction of the wall with the surrounding soil body were compiled: (1) a 1D beam-column-spring model of the wall, including spring support in its embedded length and pseudostatic seismic loading of the wall with active earth pressure, determined by the Mononobe-Okabe method (2) a 2D model of the wall and soil body, with pseudostatic seismic loading in the form of inertial forces applied at the finite element nodes (3) a time history FE analysis conducted with the accelerograms of two landmark earthquakes from the Balkan Peninsula - the 1976 Vrancea (Romania) earthquake and the 1986 Kalamata (Greece) earthquake. The drawing robot structure has been developed, and it meets the requirements of low cost with satisfactory experimental results.Ī comparative analysis of the solutions for the seismic impact on a flexible retaining wall designed to strengthen the construction excavation for a multi-storey building in Sofia has been performed. The proposed drawing robot is designed as a low-cost robot for educational purposes and aims to increase the student's interest in robotics and computer-aided design (CAD) skills to the next level. This system uses the Arduino UNO board as a signal generator of the universal g-code sender without compromising the performance. Geometric data of a CAD model is converted to coordinate points using the python-based F-Engrave application. The open-source LibreCAD application has been used for computer-aided design. The system is created using open-source hardware and software, which makes it available at a low cost. The main idea behind this paper is computer-aided design (CAD) based low-cost computer numerical control 2D drawing robot that can accurately draw complex circuits, diagrams, logos, etc. Due to the rapid development of technology, the use of numerically controlled machines in the industry is increasing.
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