https://brachiograph.readthedocs.io/en/latest/explanation/hardware.html
CPC did that in the 80ies. See Happy Computer, some issue.
I had Fischertechnik Plotter, but that was way more complicated and with extra interface
If you look at the text at 14:30 in this video you may find something of interest.
http://www.cpcwiki.eu/forum/applications/parrotry-plus-demo-from-1987/ (http://www.cpcwiki.eu/forum/applications/parrotry-plus-demo-from-1987/)
And a little more plotter info here:
https://cpcrulez.fr/applications_graphic-parrotry_plus_library__AA.htm (https://cpcrulez.fr/applications_graphic-parrotry_plus_library__AA.htm)
Cheers,
Peter