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Marlin is open source firmware originally designed for RepRap project FDM (fused deposition modeling) 3D printers using the Arduino platform. [1] [2] [3]Marlin supports many different types of 3D printing robot platforms, including basic Cartesian, Core XY, Delta, and SCARA printers, as well as some other less conventional designs like Hangprinter [2] [4] and Beltprinter.