My previous drawing robots have a very simple mechansim for holding markers—either a series of holes on Minus E or a tube on Scribbot. There was also no lifting mechanism, as my robots’ scribbly drawing style did not require it. This year, inspired by the pen-holding mechansim on pen plotters, I decided to add a similar mechansim to my drawing robot.

Back in 2017, I built my first mobile drawing robot for my undergraduate capstone at NYU Shanghai. Some of my design choices at the time were constrained by the resources and timeline. Now that I am back in school, pursing my master’s degree, I wanted to redesign the robot. My main goal was to make the robot smaller so it becomes more portable. I also thought this would be a nice challenge to practice my CAD skills and deepen my understanding of the electronics.