To solve the problems of poor positioning accuracy and poor quality of colloid strips in the current automatic sealant coating robot system, this chapter proposes an automatic gluing robot system that adapts to the surface of large components. Taking into account the characteristics of large curvature, irregular shape, and inconsistent assembly status of the product skeleton, an integrated multifunctional end effector is designed. A glue-coating speed model and a glue-coating trajectory correction method are constructed to ensure the accuracy of the gluing position and the consistency of the colloid strips’ state. Then, the robot trajectory planning method based on variable curvature linear features is proposed, which makes the robot tool center point (TCP) posture move continuously along the centerline of the product contour surface, achieving the accuracy of the gluing posture and the continuity of the movement operation. Finally, using an airplane wing sample as an experimental object, the formation law of colloid strips is studied, and key process parameters such as the moving speed of the robot and the height of the scraping board are ultimately determined to achieve precise control of the shape of the colloid strips. The experimental results show that the accuracy of the gluing trajectory is ±0.5 mm, and the thickness of the colloid layer is 0.3–1 mm, which can fully meet the actual process requirements.