Clay is one of the earliest material used for human in construction, with the invention of bauxite and kiln technic further push the limit of clay to one of the indispensable material, proven by its product which is traceable from century of times. Following the pace of technology advancement, reinforce concrete largely replace the role of clay in architecture construction today, in the other hand clay processing technic has a downturn and slowly fall into disuse. In recent years three dimensional printing technic developments has allows many materials to go beyond the limit in forming process, opens up the possibility in new exploration. Due to clay’s organic, low environmental impact and sustainable characteristic has once again gain attention in three-dimensional printing in experiment and exploration. The research mainly categorized into three parts: first part would be a study of comparison on current clay printing system, identifying the best fit of system structure to be applied in further studies operating via robotic arm, which includes printing nozzle, clay compartment tubes and printing path composition, finally with actual printing test to find the best module under varies parametric adjustment. The second part tested varies printing forms carry out by robotic arm, including flat horizontal surface filling and curve surface printing; along the process, troubleshoot was taken to identify the error and limitation for improvement. Third part of the research extend the printing test in second part, further develop an actual scale structure for testing to find possible potential in applying into actual construction world. Three-dimensional printing under robotic arm applied the principle of layering formation, this could reverse the convention method of forming that require molds. The six dimensional axial movement of robotic arm provide an agile and precise set out that largely benefits the operational in curves form, making it a large stand in customization processing market needs. As the research mainly focus in clay printing system development, however the knowledge of clay material property much influence the application into the printing system, futures studies that could look deeper into the clay material itself will definitely enhance the system and bring it to the next level.