Abstract: In view of the limitations of aerosol microjet printing in the traditional three-axis motion architecture and the difficulty of meeting the requirements of curved surface printing, a multi-dimensional aerosol micro-jet printing platform based on a six-axis robotic arm was designed and developed, and a robot kinematic model was established to propose a method for optimizing the surface conformal printing path. The curvature-based adaptive point density adjustment strategy was adopted to increase the waypoints in the high curvature region by linear interpolation, combined with Savitzky-Golay filter and third-order non-uniform rational B-spline (NURBS) curve fitting to achieve trajectory smoothing, and the motion stability of the manipulator was improved by joint space optimization and Butterworth low-pass filtering. The simulation results show that the optimized path smoothness index decreases from 0.235 to 0.102, a decrease of 56.60%, and the curvature continuity index increases from 0.704 to 0.848, an increase of 20.45%. The experimental results show that the proposed method can reduce the deposition and sputtering phenomenon of ink droplets at the corners of the surface printing, maintain the resistance stability, and effectively improve the quality of conformal printing.