中文摘要：

针对数字化制鞋生产的需要，提出一种自动生成鞋底喷胶轨迹的方法．该方法首先从三维鞋楦CAD模型中提取鞋底轮廓线，计算其在鞋底曲面的偏置曲线作为轨迹曲线，采用等参数方法对轨迹曲线进行采样得到机器人喷胶轨迹上的目标点并计算出其方向．最后通过机器人喷胶试验验证了该方法的可行性和有效性．

英文摘要：

To meet the requirements of digital shoemaking, a method for automated generation of spraying trajectory of adhesive on shoe soles is presented. First, the contour line of the shoe sole is extracted from the three-dimensional CAD model of the shoe last. Second, the corresponding offset curve of the extracted contour, which is on the surface patch of the shoe sole and is regarded as the spraying trajectory, is calculated. With the isoparametric sampling method, target points on the robot＇s spraying trajectory are obtained and their orientations can be calculated. At last, the method is proved feasible and valid with an experimental robot spraying test.