A 4D printing method for a double-layer structure based on a temperature response. The method comprises: selecting a shape memory polymer material, and by using a double-layer structure as a unit, repeatedly laminating and performing printing from bottom to top, wherein the double-layer structure is formed by laminating and printing two groups of different fill pattern layers in an up-down direction; each single layer of each group of fill pattern layers is printed to be an identical fill pattern; a pattern at an upper part is a horizontal stripe pattern; the horizontal stripe pattern is a texture pattern consisting of a group of linear arrays; the fill pattern layer at a lower part is one of a mesh pattern, a triangular stripe pattern, and a wiggle pattern. Therefore, one of a horizontal-mesh double-layer structure, a horizontal-triangular stripe double-layer structure, and a horizontal-wiggle double-layer structure is formed. The present invention overcomes the problems that it is currently difficult for preparing a temperature-driven 4D printing material and the degree of response to low-power deformation is small, and achieves a fused deposition 4D printing method by programming design parameters, without manufacturing a special wire.
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