The Nara Institute of Science and Technology (NAIST) was established in 1991 as an independent graduate school specializing in the field of science and technology. In order to create test components and fixture parts used in robot experiments, the Laboratory used 3D printers, which were single-extruder types. However, due to several limitations, such as inability to print in multiple colors, limited types of printable materials, and printing instability, they felt limited and frustrated in their research field.