Install a New Printer on Lubuntu
You are Welcome! The Tutorial shows you Step-by-Step and Visually How to Install a New Printer on Lubuntu GNU/Linux Desktop.
First, Follow the Guide on Installing the Printer Driver for Linux Lubuntu Desktop!
Moreover, there are Several different ways to install a Printer Driver on Lubuntu, but here I limit myself of illustrating How to Install the Vendor’s Driver.
Then see the detailed Visual Instructions on How to Add a New Printer on Lubuntu Linux Desktop.
Especially relevant: the Printers Marks supported by this guide are:
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HP
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Epson
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Canon
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Brother
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Samsung
Finally, the Post include also instructions on How to Quick Start Scanning on Lubuntu Linux.

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First, Install Proprietary Printer in Lubuntu
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Then Open the System Tools >> Printers wizard
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And Click on Add.
And when the Proprietary Driver is Installed the New Printer should be Recognized Automatically! -
How to Getting-Started with Scanner on Linux