Aiming at the joint motion planning of 6-axis manipulator for 3D printing，a 3D printing simulation platform for six-axis manipulator was built based on ROS.KDL kinematics solver and OMPL trajectory planner were adopted for joint motion planning.Aiming at the motion asynchrony between end effector print head motion and extruder motion，the linear velocity of the end effector print head of the manipulator was obtained through velocity forward kinematics;the relationship between the extrusion speed and moving speed of the print head was established on the basis of the extrusion parameters,and the extrusion motion was planned.The results show that the integration of the six-axis manipulator on the 3D printing platform is realized;the filament output of the printing method is relatively uniform when printing the parts,the material accumulation or missing can be avoided,and the feasibility of the method is verified.