Here is an open sourced 6-axis desktop robotic arm that can be used for writing, painting, coding, and everything in between. The Mirobot uses OpenMV and computer vision code to see and complete tasks. It can be controlled using a remote controller or an app.
The Mirobot features 0.2mm repeatability. It has a max payload of 100g. With pen holder, soft gripper, suction cup, and other swappable end effectors, you can get creative with this robot.[where to get it]