Variable-depth curved layer fused deposition modeling of thin-shells

•A complete framework of a variable-depth curved layer multi-axis additive manufacturing process targeted at thin-shells.•An improved variable-thickness mesh offsetting operation for solid fabrication.•A novel variable-depth curved layer slicing algorithm for a general curved layer fused deposition modeling (CLFDM) process.•A boundary-conformed print path generation scheme that synchronizes nozzle movements and extrusion operation.