He’s been hard at work for a couple of years now designing his own SCARA arm 3D printer. That link leads ... using a couple of stepper motors to move the extruder mount along the x and y axes.

[How To Mechatronics] capitalized on this and built a SCARA robot arm using 3D-printed parts and common 3D-printer components. The basic SCARA mechanism is a two-link arm, similar to a human arm.