Abstract: An additive manufacturing device to obtain a three-dimensional object includes a printer extruder configured to print a filament of extruded material and a guide unit configured to translate the extruder along one or more translation axes. The device also includes a support that defines a support plane for the three-dimensional object. The support is rotatable around a rotation axis substantially orthogonal to said support plane. The guide unit is also configured to rotate the extruder around one or more rotation axes so as to confer corresponding degrees of freedom in rotation to the extruder.