The two-axis Selective Compliance Articulated Robot Arm (SCARA) draws a 10” straight line 4” per second to within an accuracy of .25” on an 8.5" x 11" sheet of paper. The system is controlled by either G-Code commands via graphical user interface or by a human interface device, and is also designed to secure and use different types of writing tools (i.e. pen, pencil, crayon). This project involves embedded design, stepper motors, graphical user interface design, and control systems. The team faced many challenges while working remotely, including developing and testing code without a physical robotic arm, and lack of access to lab equipment, advisors, and other students. In the future, the team plans on 3D-printing the robotic arm to implement the design.