CAD-Based Method for Generating Spraying Trajectory of Adhesive on Shoe Soles

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.