Multi-degree-of-freedom 3D printer of fiber reinforced composite material and printing method thereof

The invention discloses a multi-degree-of-freedom 3D printer of a fiber reinforced composite material and a printing method thereof. The 3D printing can be performed with any angle and any movement locus by making use of the flexibility of a manipulator; and a 3D printing head mounted on the multi-degree-of-freedom 3D printer can perform the 3D printing of a high-strength short fiber reinforced composite material, and can perform the splicing and the weaving of continuous resin-based long fiber to produce a structural body of a continuous fiber reinforced resin-based composite material. The multi-degree-of-freedom 3D printer can precisely control the orientation of reinforced fiber in a composite material part in the 3D printing process, and can realize the quick production of the composite material part with specific mechanical, electric and thermal performances and a complex structure. Meanwhile, a mold customized beforehand and a pretreated fiber prepreg tape are not needed in the process; and the multi-degree-of-freedom 3D printer is not only suitable for the production of large parts, but also suitable for the large-batch production of small parts, so that the production cost and the production period are largely reduced, and the wide application of the composite material parts is further promoted.