In order to realize the automatization of sole glue working procedure,an auto-glue toe lasting machine was developed, but it is a high flexible machine and easy to produce residual vibration because of its structure. The existence of residual vibration degrades tracking precision and response speed of trajectory glue and influences the quality of trajectory glue and following procedure. This paper used pulse reshape filer in discrete domain, designed and optimized input command reshaper against the system vibration mode, filtered the input command and eliminated the residual vibration, improved system response. Experiments show pulse reshape filter is effective against residual vibration caused by high flexible mode of auto-glue toe lasting machine.

pulse reshape filter, trajectory glue, shoemaking machine, vibration reduction

为实现鞋底喷胶工艺的自动化，研制了用于鞋底轨迹自动涂胶的前帮机，该机是一种典型的高柔性机构，易产生残余振动。为解决其残余振动降低轨迹涂胶跟踪精度和响应速度，影响涂胶工艺质量和后续工艺的问题，采用脉冲整形滤波技术，针对系统的振动模态，设计输入指令整形器，并采用离散化的设计方法进行脉冲序列优化，有效地消除了残余振动，提高了系统的响应速度，简化了设计方法。实验证明，该方法对于抑制高柔性系统中存在的残余振动问题是有效的。

脉冲整形滤波, 轨迹涂胶, 制鞋设备, 振动抑制