We built a two axis arm that is used to plot on an A4 paper. The arm itself was constructed using simple materials, and it was put together in a period of 10 weeks. The project was challenging, especially at the end when we had to put everything together but we managed to complete it. In order to make it cheaper and easier to build we were limited to using a SCARA arm. It was designed to respond to G-code commands, which are commonly used in manufacturing. Servo motors were used because each joint of the arm would need to move at most 180°, but would need to move to precise locations. One of the largest challenges was implementing the inverse kinematics required to position the arm. The final arm saged at the joints, making it hold the writing implement lower as it moved farther from the origin. This caused the writing implement to move in the machine’s grip, and when returning towards the origin it was often being held above the paper.