Okay, it took a while, but I've finally found the time to document the current state of development of my PenPlotter made out of Lego Mindstorms NXT.

It's still somehow a beta version but works already quite well. However it's just the first step for me towards understanding how to build and programm (Lego) robots that are able to transform digital (vector) drawings into real graphics.

Enjoy the images and movies! Comments and suggestions are welcome
Nils Völker