A two-axis SCARA robot arm capable of drawing preprogrammed shapes and patterns as well as performing specific movements controlled through a graphical user interface (GUI). The arm is capable of drawing within the dimensions of an 8.5x11’’ piece of paper. The SCARA arm is controlled by an Arduino Uno microcontroller which receives G-code commands passed from a graphical user interface (GUI) before performing the required calculations. The microcontroller then sends digital signals to two stepper motor drivers which control the current and motor logic of the two NEMA-17 Stepper Motors. A key accomplishment is in the accuracy and reliability of the system structure. This is most apparent when drawing repetitive patterns and shapes, as the lines drawn remain accurate and inline with one another as the drawing progresses. There are several areas of improvement, most notably, a more robust PCB designed to house the motor drivers as well as the emergency shutoff switch would have significantly improved the design process.