The Rob26 2-Axis Robotic Arm is designed to create precise drawings on standard 8.5" x 11" paper using a SCARA configuration with two rotating stepper motor joints. The system accepts user input via a GUI that allows selection of predefined shapes (line, square, circle, and triangle) with customizable dimensions, converting them into industry-standard G-code commands that control the robotic arm's movements. Key technologies implemented include ESP32 microcontroller integration with A4988 stepper motor drivers, optimized voltage regulation for stable motor control, and a custom G-code parser that translates movement commands into precise motor steps. The system achieves drawing speeds of up to 4 inches per second while maintaining accuracy within ±0.25 inches in all directions. Our most notable accomplishment was implementing a complete motion planning system that accurately converts user-defined shapes into smooth drawing trajectories. The main challenges involved optimizing power delivery to prevent motor overheating and implementing reliable microstepping for precise movements. Future improvements could include enhanced inverse kinematics algorithms for more complex shapes and refining the physical structure to increase stability during high-speed operations.