Abstract:In order to improve the processing quality and efficiency of gluing, an offline programming system was designed with the help of SolidWorks secondary development interface. For the gluecoated workpiece contours with nonuniform rational B-splines (NURBS) curve, a NURBS interpolation algorithm was studied, it was combined with the extraction method of rough and fine path points, by which obstacles could be avoided. Then, C#.NET combined with OpenGL was used to realize the simulation environment. The ZZRT-608 six degree-of-freedom robot was used as the mechanical system, and the ZMC406 was used as the control system to build the experimental platform. A typical shoe sample was chose as the gluecoated test object. Compared with the manual teaching programming of the KUKA robot, the off-line programming system has improved efficiency by 30%~50%, and the gluing trajectory is more uniform. It can meet the highprecision production requirements better.