Are there high precision sensors for height for robot ?

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    a gantry mounted robot, inverted

    I could explain a little more in detail

    You mean the hanging type of construction or what?

    Do you have any good drawing software?

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    There are some brand-specific tools that might help, but which of them we can discuss would depend entirely on what robot brand you are going to buy.

    I'm trying to assemble it myself, from purchased servo, DC actuators, other actuators, microcontrollers, sensors, machine elements, to connect it all with cables, and the microcontroller will most likely be an Arduino uno.

    If you're going for a homebrew solution, I'm going to (again) recommend something like the Maslow CNC or a Drawbot of some type. There are multiple solutions, but the code and blueprints are openly available. It's really just an Arduino, two stepper motors, and some pulleys and cables. All open-source.

    What makes this handy is that, if you place your pulleys at the upper corners of the drawing plane, you automatically have the drawbot aligned to the wall, can ignore the floor entirely, and gravity takes care of keeping the drawing head held against the drawing plane. And I think it will be a far, far easier and cheaper solution than anything we've discussed so far.

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