This drawing robot is similar to the commercially available AxiDraw. It is powered by an Arduino Uno controller and a CNC Shield and uses GRBL firmware. Aproximate cost to build this drawing robot is $83.
The drawing robot receives G Code commands that are created by a drawing program called Inkscape. The robot was put together using two other people's designs. I added the improved pen slider and the controller enclosure. This drawing robot allows you to draw things in Inkscape and then plot them out. Below are the links to the software I used. Avanhanegem's design has a great tutorial on how to generate G Code within Inkscape and then send it to the drawing robot using Source Rabbit G Code Sender.
2x Nema 17
2x Linear rod M8 x 380mm, X Axis
2x Linear rod M8 x 330mm, Y axis
1x linear guide pen hold
1x 380MM 2020 aluminum
8x LM8UU or printed
1x Servo sg90
2x GT2 Pulley 16 teeth
12V 2A Wall Transformer
Inkscape which is the graphics design software (Includes G Code Extension)
Source Rabbit which is the G Code Sender (sends the machine commands from a file)
GRBL which is the Arduino firmware (programmed into the Arduino Uno)
I have supplied a few G Code files that work with this drawing robot. If yours is identical to this design, the G Code files should also work with yours.