7631
Here , a large-scale 3D printer is introduced , which uses a six-degree-of-freedom cable-suspended robot for positioning , with polyurethane foam as the object material and shaving foam as the support material .
 3D printer, robot, polyurethane foam, as, material, shaving, foam, as, support material
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: manufacturing standard, machanical property, manufacturing process, material, engineering feature, process parameter, machine or equipment, application, process characterization, enabling technology, biomedical, concept or principle 
Text: {0} 
Answer:
 3D printer, robot, polyurethane foam, as, material, shaving, foam, as, support material