This project is a two-axis SCARA topology robotic arm that is designed to draw on a standard 8.5" x 11" piece of paper. It was made in collaboration with Caden DeFries and Jonas Carew as a part of the ECE 342 Junior Design course curriculum. This project was completed using an ESP32 microcontroller programmed with a mix of embedded C++ and Python 3 connected to 28BYJ-48 motors (and associated ULN2003 Driver) enclosed in a fully custom 3D printed arm designed in Siemens NX. The pen fixture is comprised of a FS90 linear actuators and can connect easily to a variety of writing utensils of which it can use up to two at a time. The main challenge to overcome with this project was tackling inverse kinematics and learning overall system integration skills for group engineering projects. Future improvements could include a more robust arm design that contains the motor drivers, microcontroller and loose wire connections to provide a more finished look.