welcome to the forum :-)
In regards to the pantograph, there is two structurally different approaches you could go.
The easier one is just a couple of really thin boards as teh structure, where the router is attached at the correct position from the top.
This would be similar to the pantograph Milescraft offers.
Advantage: easy to build
Disadvantage, it rubs on the surface of the work piece, using the routers abilities for height adjustment. Hence only really usable for 2-D work (which would be sufficient for most cases, I'd say)
A more sophisticated approach would be a rigid structure, like Matthias Wandel used it here
This now allows for 3-D work, and might work well with the router you want to use.
Personally I'd consider it overkill, if your intention is just some 2-D work.
I hope that helps a little,