The four-dimensional (4D) printing technology,as a combination of additive manufacturing and smart materials,has attracted increasing research interest in recent years.The bilayer structures printed with smart materials using this technology can re-alize complicated deformation under some special stimuli due to the material properties.The deformation prediction of bilayer structures can make the design process more rapid and thus is of great importance.However,the previous works on deformation predic-tion of bilayer structures rarely study the complicated deformations or the influence of the printing process on deformation.Thus,this paper proposes a new method to pre-dict the complicated deformations of temperature-sensitive 4D printed bilayer structures,in particular to the bilayer structures based on temperature-driven shape-memory poly-mers (SMPs) and fabricated using the fused deposition modeling (FDM) technology.The programming process to the material during printing is revealed and considered in the simulation model.Simulation results are compared with experiments to verify the validity of the method.The advantages of this method are stable convergence and high efficiency,as the three-dimensional (3D) problem is converted to a two-dimensional (2D) problem.The simulation parameters in the model can be further associated with the printing pa-rameters,which shows good application prospect in 4D printed bilayer structure design.