This robot is built using mostly EV3 Lego parts (see details below). It can draw any postscript formated image stored in the SD card. The program runs entirely inside the Lego brick. The robot uses a paint brush (pen-brush) and can control the thickness of the line by exercising different amounts of pressure on the brush. I have made available an early version of the program used by the drawing robot that was created to run in the LEGO NXT version.
We had some interesting media coverage at CES 2014. The following video shows the robot in action:
This is the final result:
Some pictures showing the Robot can be found next:
I use a couple of non-LEGO parts in this design in the mechanism that handles the brush. I use a bolt and large screw an old BYGGA construction set, this may be replaced by a some Lego parts.