SCARA 3D Printer

SCARA 3D printers (Selective Compliance Assembly Robot Arm) feature a printhead attached to a robotic arm powered by two motors. The motors are connected to linkages that move the printhead around the XY-plane, while another motor controls motion along the Z-axis. Usually, this motor elevates the whole linkage-motor system along with the printhead in order to print each subsequent layer.

These mechanisms are found within the open source 3D printing community in the form of the RepRap Morgan and RepRap Helios projects.