The 3D printer is based on a delta printer design by Jonathan Keep. I have designed my own extruder to force soft clay out of a syringe and through a fine nozzle. The position of the print head is controlled by three motors which move according to the G-Code instructions for the design.
The delta printer showing the central syringe assembly and its supporting control rods. These are linked to three toothed drive belts, each controlled by a motor.