In the past few months, we have covered a bunch of drawing machines that you can build using Arduinos and other tools. JK Brickworks has shared a video that shows a drawing machine built with LEGO pieces. It can be configured to create different patterns like a Spirograph.
You can use a simple pen or marker to get started. It is possible to draw multiple patterns on the same piece of paper for more complex designs. The building guide, parts, and additional info are available here.