Path planning method of five-axis 3D printer

The invention belongs to the field of industrial manufacturing, and discloses a path planning method for a five-axis 3D printer, and the path planning method comprises a shape following entity representation method, a method for restraining the direction of a nozzle on a contour, an entity filling path planning method and a sampling interpolation method, and the shape following entity representation method comprises the steps of extracting CAD model shape data of a shape following entity; decomposing the model into composition surfaces and edges, and determining the sequence and parameter direction of each composition surface; a nozzle direction constraint method on the contour adopts a side tangential direction and a transition surface normal direction, and a gradually deformed transition layer and a self-adaptive material are extruded; according to the entity filling path planning method, the last deposition layer is selected to coincide with the top surface, a filling layer is designed, a surface transitio