The invention discloses a five-axis 3d printing system based on station transformation and a printing method thereof. A printing strategy part comprises three parts of model preprocessing, printing sorting strategy and G code post-processing based on model registration. Open source software of an Arduino control board can be directly used, and a software system is greatly reduced. On the basis ofsuccessfully solving the problems that the developing difficulty of a control system of the five-axis FDM printing device is large and the cycle is long, an effective method for generating G code fora slice of five-axis 3d printing is provided, so that five-axis 3d printing is successfully realized.