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A novel 7-axis robot for industrial large 3D printing applications is presented in this paper,which is developed by Institute of Robotics and Automatic Information System,Nankai University.Base on the prototype,the mechanism on three-dimensional printing is deeply dissected.By investigating the reason of color distortions in 3D printing,a novel multistep compensation algorithm based on model optimization and image compensation is developed.Finally,the extperimental results show the performance of the 3D printing robot platform and the proposed algorithms.