Abstract: A 3D printing system based on multi-shaft linkage control and machine vision measurement having a frame, a work table, a printing apparatus, a material conveying mechanism, image capturing cameras, a driving mechanism and a control system. The work table is a six degree-of-freedom linkage platform which is connected with the frame; the driving mechanism is in form of a six-axis robot arm; the printing apparatus is connected to the six-axis robot arm. The present 3D printing system is capable of achieving precise control of the spatial position of the printing nozzles of the printing apparatus.