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="thingiverse-128267006fa0f5554d155ff28a81fe3a:disqus" href=" Sticking the pen directly to a servo arm would allow me to reduce the part count by 1, but would also mean the robot is only a 2 axis plotter with pen lifts. This way, it is a no foolin' 3 axis CNC machine that works pretty well as a pen plotter. :) The SCAD files are seriously a horrible mess - I'll post all the SCAD files as soon as I work out a few more kinks. But, if you want to email me, I'll create a set of gears for you.