Blackstripes drawing machines. MK1 v-plotter design, MK2 kinematic-arms design.
MK1: http://www.youtube.com/watch?v=Od8OGbsfzPY
MK2: http://www.youtube.com/watch?v=u11jDH18Qqw
The machines are driven by a Raspberry-Pi running xenomai based rt-linux. We used this pre build image : http://wiki.linuxcnc.org/cgi-bin/wiki.pl?RaspbianXenomaiBuild
Read more here: http://www.blackstripes.nl/?cat=3