System including multi-segmented robotic arm assembly configured to synchronously move end effector having writing instrument to draw pattern on work object and method thereof

A system, comprising:

• a plurality of arm segments including a first arm segment, a second arm segment, and a terminal arm segment, wherein each arm segment of the plurality of arm segments is connected, via at least one arm segment joint, to at least one adjacent arm segment of the plurality of arm segments, wherein each of said at least one arm segment joints allows a given arm segment of the plurality of arm segments to move with at least one degree of freedom relative to a given adjacent arm segment that is adjacent the given arm segment, wherein said at least one arm segment joints includes a first arm segment joint and a terminal arm segment joint, wherein the first arm segment joint connects the first arm segment and the second arm segment, wherein the terminal arm segment connects at the terminal arm segment joint;
• an arm base assembly including a first arm base component and a second arm base component, wherein the arm base assembly is configured to travel along a structure, wherein the first arm base component is connected, via an arm base joint, to the second arm base component, wherein the arm base joint allows the second arm base component to move with at least one degree of freedom relative to the first arm base component, wherein the second arm base component is connected, via a joint, to the first arm segment, wherein the joint allows the first arm segment to move with at least one degree of freedom relative to the second arm base component;
• an end effector connected to the terminal arm segment, the end effector comprising a writing instrument having a tip;
• a plurality of actuators collectively configured at least to:
• move the arm base assembly along the structure;
• rotate the second arm base component relative to the first arm base component about a first axis passing through the second arm base component and the first arm base component;
• move the first arm segment relative to the second arm base component about a second axis passing through the joint, wherein the first axis and the second axis are non-parallel;
• move the second arm segment about a third axis passing through the first arm segment joint;
• and
• move the terminal arm segment about a fourth axis passing through the terminal arm segment joint;
• and
• at least one processor communicatively coupled at least with the plurality of actuators, wherein the at least one processor is configured to:
• access data associated with a design;
• and
• output at least one of instructions or signals that cause the plurality of actuators to collectively move the tip of the writing instrument along a three-dimensional path relative to a position of and an orientation of a work object such that the tip of the writing instrument interacts with the work object in accordance with the design to draw a pattern on a surface of the work object, the pattern corresponding to the design.