The invention discloses a polar coordinate numerical control fused deposition rapid prototyping machine and a prototyping method thereof. The rapid prototyping machine comprises a support frame, a lateral movement device, a rotary device, a lifting device, a lateral adjusting device and an extrusion sprayer, is ingenious and reasonable in structural design, adopts a polar coordinate mode for processing, is matched with the rotary device to realize rotary movement, effectively keeps the uniform feeding speed in linear and curved movement, achieves the continuity of extrusion materials in the deposition process, and has rapid prototyping speed and good effect; the whole structure is compact, the operation is convenient, and the work stability is high; according to the prototyping method provided by the invention, the work procedures are concise, the implementation is easy, the fused deposition can be implemented according to different prototyping models, not only is the whole prototyping period shortened, but also the model prototyping quality is effectively ensured, the prototyping effect is good, the efficiency is high, and wide promotion and application can be facilitated.