Drawing End Effector

What are Drawing Tools?

The drawing tools are a series of end effectors for holding drawing instruments such as pens, brushes and markers. The Robotics Lab has 2 types of drawing tools:

  • Type 1 is more flexible and forgiving of crashes. We recommend starting with Type 1.
  • Type 2 is more rigid, providing better stability.

Why use Drawing Tools?

The drawing tools are appropriate for robotic drawing exercises and are also used for training purposes.


The Robotics Lab offers a range of training to help you learn how robot arms and end effectors work, how to setup a file for the robots and and how to submit it for processing. This training includes:

  1. Robotics Lab website

    Read through the website to get an understanding of what the robotics lab offers.

  2. Work through the training exercises to learn how to use and program the robot arm

    Training Exercises

  3. Book a Robot session once you have complete Level 03 Safety Induction

    Book Session

  4. Consultation

    Book a consultation with the Robotics Lab’s experienced staff to get help with complex technical challenges specific to your project. Before making a booking, it is expected that you have completed the introductory sessions and read through available guidelines for the technology.

    Book consultation


The equipment in the Robotics Lab (G23) is available for you to book and use when you have completed the required safety training and inductions. To use the robot arms you must complete the following:

The Robotics Lab Open Access sessions take place every weekday afternoon, Monday – Friday from 1:00pm to 5:00pm. End Effectors and Tools are only to be booked during Open Access.

Open Access times are available for all students from MSD, both undergraduate and postgraduate. Tools are only able to be booked out during Open Access.

For more information about the Safety Training and Inductions for the Robotics Lab head to the Access page.

Book a robot

How to get started?

  1. Complete inductions

    Complete the required Safety Inductions as detailed in the Access section.

  2. Book an consultation

    Book a consultation with Robotics Lab staff to discuss your project and application.

  3. Book a robot

    Book drawing end effector via the online booking system and should be booked alongside a robot booking for the appropriate robot (IRB1200) for Suction Grippers).


Students should purchase their own drawing instruments (pens, markers). It is likely that these instruments will break, and you should buy extra. Other materials (such as paper) used also need to be supplied by students.


What pens, pencils, brushes, markers should I use?

Generally, any drawing instrument will work, as long as they are able to be gripped in the tool. We suggest using instruments with softer tips, that can absorb some of a crash. E.g. A mechanical lead pencil is likely to break.