A 3D printing system, comprising: a print head constructed to print a product; a positioning platform constructed to support and position the product to be printed thereon; and a first movement device constructed to manipulate the positioning platform, wherein the first movement device is constructed so that the positioning platform is moved with respect to the print head in a first direction, a second direction and a third direction perpendicular to each other, and rotated with respect to the print head about at least two of the first, second and third directions (X, Y, Z), characterized in that the first movement device comprises a spherical movement device; and in that the spherical movement device comprises: a first rotation driver having an output shaft rotating about the first direction; a second rotation driver having an output shaft rotating about the second direction perpendicular to the first direction; a first quarter arc linkage, one end of which is connected to the output shaft of the first rotation driver; a second quarter arc linkage, one end of which is pivotally connected to the positioning platform, and the other end of which is pivotally connected to the other end of the first quarter arc linkage; and a third quarter arc linkage, one end of which is connected to the output shaft of the second rotation driver, and the other end of which is pivotally connected to the positioning platform, wherein extending lines of a pivotal axis at a joint of the first quarter arc linkage and the second quarter arc linkage, a pivotal axis at a joint of the second quarter arc linkage and the positioning platform, a pivotal axis at a joint of the third quarter arc linkage and the positioning platform, an axis of the output shaft of the first rotation driver, and an axis of the output shaft of the second rotation driver intersect at the same point. a print head constructed to print a product; a positioning platform constructed to support and position the product to be printed thereon; and a first movement device constructed to manipulate the positioning platform, wherein the first movement device is constructed so that the positioning platform is moved with respect to the print head in a first direction, a second direction and a third direction perpendicular to each other, and rotated with respect to the print head about at least two of the first, second and third directions (X, Y, Z), characterized in that the first movement device comprises a spherical movement device; and in that the spherical movement device comprises: a first rotation driver having an output shaft rotating about the first direction; a second rotation driver having an output shaft rotating about the second direction perpendicular to the first direction; a first quarter arc linkage, one end of which is connected to the output shaft of the first rotation driver; a second quarter arc linkage, one end of which is pivotally connected to the positioning platform, and the other end of which is pivotally connected to the other end of the first quarter arc linkage; and a third quarter arc linkage, one end of which is connected to the output shaft of the second rotation driver, and the other end of which is pivotally connected to the positioning platform, wherein extending lines of a pivotal axis at a joint of the first quarter arc linkage and the second quarter arc linkage, a pivotal axis at a joint of the second quarter arc linkage and the positioning platform, a pivotal axis at a joint of the third quarter arc linkage and the positioning platform, an axis of the output shaft of the first rotation driver, and an axis of the output shaft of the second rotation driver intersect at the same point. a first rotation driver having an output shaft rotating about the first direction; a second rotation driver having an output shaft rotating about the second direction perpendicular to the first direction; a first quarter arc linkage, one end of which is connected to the output shaft of the first rotation driver; a second quarter arc linkage, one end of which is pivotally connected to the positioning platform, and the other end of which is pivotally connected to the other end of the first quarter arc linkage; and a third quarter arc linkage, one end of which is connected to the output shaft of the second rotation driver, and the other end of which is pivotally connected to the positioning platform, wherein extending lines of a pivotal axis at a joint of the first quarter arc linkage and the second quarter arc linkage, a pivotal axis at a joint of the second quarter arc linkage and the positioning platform, a pivotal axis at a joint of the third quarter arc linkage and the positioning platform, an axis of the output shaft of the first rotation driver, and an axis of the output shaft of the second rotation driver intersect at the same point.