The Poor Man’s Two-Axis Robot Arm is a cost-effective robotic arm designed for precision drawing applications. This system utilizes a stepper motor and a servo motor to control the movement of two lever arms, allowing it to execute user-defined drawing commands with accuracy. The system uses an Elegoo Uno R3 microcontroller, which processes user-input drawing commands received through a Graphical User Interface (GUI). The ULN2003A motor controller drives the stepper motor for y-axis movements, while the servo motor operates via PWM signals to control the x-axis. Additionally, an OLED I2C display provides real-time progress updates, and a kill switch ensures safety by allowing users to halt operations immediately. The robotic arm is constructed using PVC piping with interlocking joints, making it lightweight and easily modifiable. One of the key achievements of this project was the successful integration of motor control and software to achieve smooth and precise arm movements. The project faced challenges, included deciding how to mount the motors and connect the shaft to create movement. Our team eventually decided on using shaft couplers and directly connecting them via PVC joints. While not the most elegant method, our team used ingenuity to solve this major problem.