A printout from the Printer robot
The sample printout from the Printer robot is the Mindstorms logo with NXT 2.0 printed below it. Due to the inability of the rubber band clamp structure and the friction pegs to hold the pen completely secure, the size and shape of some aspects of the drawing are a little bit skewed. Using more pieces, it may be possible to tighten that grip on the pen and improve the quality of the drawing.
For the purposes of this book review, I did not alter any models except where allowed in the plans to accommodate U.S. letter format paper (vs. A4 format) and to adjust the L-shaped pen support piece mentioned earlier.
For more about the book, read my Geekend post Geek Gifts 2011: The Unofficial LEGO Mindstorms NXT 2.0 Inventor's Guide.