Motion planning and analysis of manipulator system for single edge stitching of composites

For acquiring a desired stitch during single edge sewing of prefabricated composite,this article focuses on planning the timely motion coordination relationship between threading,thread take-off,and thread pickup of manipulator during single edge sewing.By analyzing the general relationship between the rotation of mechanism and the displacement of the needle bar,the equation of phase difference between crank angles are determined.Simulation software is used to analyze the change rule of displacement of individual mechanism.The locations of the threading,thread take-off,and thread pickup at some special moments in the simulated result reflect the timely coordination relationships between the three and verify that this motion planning is reasonable and efficient,thus providing a theoretical reference for debugging and forming a desired stitch during the process.