Abstract: A method for optimizing design and manufacture of a self-supporting structure based on multi-axis 3D printing are provided, which comprises the following steps: using a structural topology optimization method based on an SIMP model to achieve the optimal configuration design of a complex structure, converting an image into a binary image, and post-processing the result of topology optimization; determining an overhanging angle of a structure boundary, and determining the printing direction of different printing partitions according to the classification; performing integrated optimization of angle constraints; extracting structural information, establishing a 3D solid model, and then partitioning and slicing the model, and generating a printing path for self-supporting multi-axis 3D printing manufacturing. The present disclosure has the beneficial effects that the self-supporting structure is generated in the optimization process, no additional support is needed in the printing process.