For an easy plotter design that you can build with only simple hand tools, be sure to check out this tiny project from Mr Innovative. The machine features a pair of stepper and lead screw assemblies to maneuver a pen in an X/Y plane, along with a clever string and servo setup to handle retraction.
An Arduino Nano and two L293D ICs mounted to a custom PCB are used to control the device, though a breadboard could certainly substitute for the PCB in a pinch. Drawings are translated into the proper format via Inkscape and Processing.
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