Our system is a SCARA two-axis robotic arm used for drawing, with a mechanism which supports quick writing utensil swapping. This feature allows for flexibility in switching between different drawing tools, enhancing its utility in drawing scenarios. It is capable of drawing a straight, 10-inch line at a rate of 4 inches per second. The arm uses a standard G-Code interface, allowing precise drawing instructions. To ensure affordability and ease of manufacturing, we set a budget of $200 and designed the system with easily manufacturable components, primarily utilizing 3D printing. The system is intended to provide a reliable, user-friendly solution for precise and consistent drawing tasks. The key technologies we implemented were Python for G-Code input and processing, PWM for servo control, C++ for ESP-32 control (including SPIFFS file uploading), KiCad for PCB design, Tinkercad for 3d-modeling, and I2C for daughterboard control. One of the main challenges we faced was servo calibration, as our servos showed deviations between 0-5 degrees over 20-degree increments causing large inaccuracies in implementation. If we were to redesign the system, we would opt to use stepper-motors instead of servo-motors to improve accuracy and easy of assembly (as stepper-motors wouldn't need individual calibration).