3D Systems sold the first rapid prototyping system in 1988. Helisys (succeeded by Cubic Technologies), DTM, (acquired by 3D in 2001), and Stratasys entered the market over the next four years with product lines based on different technologies. These four companies with their initial product introductions represented the first generation of rapid prototyping systems. In general, most of the products sold were expensive and relatively large. Although Stratasys' products were similar in pricing and technical specifications to second generation systems, they didn't have a lot of sales impact for several years.

The second generation of systems, based on inkjet techniques, began to appear in 1995. Solidscape (founded 1994 as Sanders Prototypes) and Z Corporation (first shipments in 1997) offered products that were less expensive, easier to use, and smaller than first generation equipment. 3D Systems also introduced an inkjet product line with first sales in 1997. Certain applications and cost factors favor one or another of the technologies, so many customers have purchased a mix of systems.

Foreign vendors have often copied, modified or improved US technologies. US sales efforts by these foreign vendors have frequently in the past resulted in spirited litigation, typically followed by a withdrawal from the US market. More recently companies in Asia, Europe and Israel have shown considerable technical originality and a number of them are in the process of introducing products to the US market, in some cases partnering with US companies.