Abstract: 4D printing technology utilizes smart materials to achieve the dynamic evolution of shape, properties, and functions of structures under external stimuli. However, existing methods mostly rely on external stress programming after printing, with complicated processes and insufficient stability. To address this problem, polylactic acid (PLA) material and a commercial fused deposition modeling (FDM) printer were selected, and an intrinsic force programming strategy was adopted to realize the shape memory effect. This 4D printing effect is achieved by combining printing process parameters with structural design parameters and locally controlling the printing path direction to regulate shrinkage magnitude and orientation, followed by an analysis of the underlying mechanism. The results show that changing these parameters can effectively regulate the residual stress distribution and achieve predictable deformation responses. Based on the experimental findings, complex 4D printing structure design was further carried out, and the design scheme was verified through thermal stimulus response experiments.