This drawing machine is a quick prototype that surprised me by being strong enough to draw on its own.

I was inspired by Matt Richard's work with inverse kinematics from last year, and I remembered that he had also used this work to create a drawing machine. My intention was to put the math onto the Arduino so that I could simply send it positions, then use that to create some sort of drawing.

As it got late, I realized that although that's would be interesting, it wasn't necessary for the assigned simple drawing machine. Although this machine could make fairly precise marks, I set up a random walk in the dimensions of the two motors' angle measurements and then let that draw for five to ten minutes. Here are the results.