Mechpen drawbot

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Alexander Weber has a nice build log on his drawbot called Mechpen, that is available on GitHub:

This is Mechpen, my newest drawbot.
The idea was to have a robot arm that could sketch on a rather large surface.
It is a SCARA (Selective Compliance Assembly Robot Arm) robot arm, meaning the robot has a shoulder and an elbow joint and a hand. Mechpen has a reach of 140 cm which means it could sketch up to A0 format.

You can see the full build on Weber’s Tinkerlog site.

Check out the video after the break.