The BrachiGraph project consists out of two parts, the hardware design for a servo-driven drawing arm (pen plotter) and software utilities (written in Python) that allow the drawing arm’s servos ...

A certain amount of noise and wigglyness is added to the lines to give it a more “handmade” feel, and the resulting drawing is divided into continuous lines for efficient drawing by the plotter.

The plotter was the first output device to print graphics and large engineering drawings. Using different colored pens, it could draw in color long before color inkjet printers became viable.