The invention discloses a method for designing a gluing path of a complex bonding surface, which comprises the following steps: initializing the
pose of an end
effector of a mechanical arm, and determining the spatial
layout and type of a curved surface to be covered; the curved surface to be covered is mapped to a uv space, and a uniform uv grid is generated; establishing a task constraint model of an end
effector of the mechanical arm; the coverage feasibility of the curved surface to be covered is checked through a mechanical arm joint space searching method; generating a covering path pattern on the uniform uv grid of the to-be-covered curved surface passing the feasibility test to obtain a gluing path
point sequence of the to-be-covered curved surface; and based on the gluing path
point sequence of the to-be-covered curved surface, an initial gluing covering path of an end
effector of the mechanical arm is obtained, and finally singularity detection and
singularity avoidance are carried out to obtain a final non-singularity gluing covering path. The method is suitable for automatic generation of the uniform coverage path of the complex three-dimensional free-form surface under task constraint, and the safety and reliability of surface gluing operation of the
spacecraft component are remarkably improved.