Our project for Spring 2026 Junior Design 2, was the two-axis robotic arm which as a group we thought would be the most challenging yet most rewarding project. We followed industry standards and used SCARA technology to mimic how an arm would draw by using G-code commands and inverse kinematics to be able to convert X and Y coordinates into the proper joint angles for the arm. We had multiple engineering requirements that we needed to follow such as being able to draw a 10-inch straight line with a tolerance of ±0.25 inches, being able to accept G-code commands, use SCARA topology with two axes of motion, store 1-10 lines in memory, and output 1-10 programmed lines. In our case, we used two NEMA-17 stepper motors to create the rotating joints. During development we made a significant design change regarding the motors. For the base of the arm, we decided to use a larger NEMA-17 stepper motor capable of handling more current and producing greater torque. This modification improved the arm's ability to support the load of the second arm segment and pen assembly while maintaining consistent movement.