Abstract: For the printing task of 3D-printing robot, a standard printing task process is designed based on the data-process from 3D-printing data to 3D-printing works. From three aspects (printhead angle, mechanical error, printing strategy), three optimization methods are proposed to improve the matching accuracy of 3D-printing works. These methods are introduced into the printing process as optimization steps. Through the virtual running in simulation environment and the real 3D-printing task, the feasibility of the 3D-printing process and the validity of the optimization methods are verified.