Taylor added to his first-innings 171 with an unbeaten 81 to help Zimbabwe recover from 27 for four to 187 for seven.
They have what already looks to be an unassailable 442-run lead after the Tigers incredibly collapsed from 102 for one to 134 all out, which included losing their last five wickets for no runs.
'Look' how the Sheena Bora case has taken a toll on Indrani Mukerjea
Photos: Katrina Kaif, Parineeti Chopra, Shilpa Shetty's movie outing in Juhu
Birthday special: 14 Bollywood actors who made it big on TV
Photos: Vaani Kapoor, Poonam Pandey, Sana Khan at fashion event
Photos: Rishi Kapoor, wife Neetu, daughter Riddhima at book launch