System and method for printing on a three-dimensional (3D) curved object

A printing system comprising:

• a first member having a first end and a second end;
• a second member having a first end and a second end, the second member being positioned to be parallel to the first member;
• a first extensible member having a first end and a second end, the first end of the first extensible member being mounted to the first member;
• a second extensible member having a first end and a second end, the first end of the second extensible member being mounted to the second member;
• a first gripper mounted to the second end of the first extensible member;
• a second gripper mounted to the second end of the second extensible member;
• a first actuator operatively connected to the first extensible member and the second extensible member;
• a printhead positioned and configured to eject material into a space between the first gripper and the second gripper;
• and
• a controller operatively connected to the first actuator and the printhead, the controller being configured to:
• operate the first actuator to move the second end of one of the first extensible member and the second extensible member towards the first end of the one of the first extensible member and the second extensible member and move the second end of the other of the first extensible member and the second extensible member away from the first end of the other extensible member to position a portion of an object held by the first gripper and the second gripper at a predetermined distance from the printhead in a plane parallel to the printhead;
• and
• operate the printhead to eject material onto the portion of an object held by the first gripper and the second gripper.