Robot-based Shoe Manufacturing System

摘要

This paper presents robot-based shoe manufacturing systems for the upper and sole manufacturing process. For upper manufacturing process, we propose a robot path generation algorithm for upper roughing and cementing by industrial robot manipulators, where working trajectory on upper is acquired by using 3D digitizer. For the sole manufacturing process, we use an industrial robot manipulator with a cementing tool and a 3D scanning system. We propose a trajectory generation algorithm for sole cementing to transform 3D information of sole into 6D information of robot. We have verified the effectiveness of the proposed robot based upper and sole manufacturing systems experimentally.