Moto what you best be doing is making very simple models in a raytracer, and then exporting wireframe views as individual frames. This won't take a long time, even on an Amiga with an 030. You can do it with Real3D V1.4 or Cinema4d. Both were given away on coverdisks.
Then you need to apply a filter to those frames, to get that drawn look.
I don't know what Amiga software has the right filters, but on the PC side Photoshop definitely has them. The 'Dry Brush' filter is probably what you need.