Components
For a bill of materials and details on how the components were integrated, take a look at the final system. For notes on the prototyping/development process, see here.
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Component 1: zipper actuator on a rotary base
Evolution of the zipper actuator across multiple prototypes.
Tests of the zipper actuator (extension and rotation).
Component 2 (a+b): passive and actuated pen holders
A light-weight unactuated pen holder with a simple flexure to add some compliance.
The actuated pen holder (utilising a micro servo).
Not the 'circle' that was expected from the downsampled .gcode uploaded to the Arduino, but the path appeared to be very repeatable over multiple cycles.