Abstract: Due to a thickness of more than 3 mm could not be sewed using the single-sided double-needle double-thread stitching head insertion mechanism, an asymmetrical 8-shaped motion trajectory was proposed and the motion trajectory of the needle insertion mechanisms was designed. Firstly, the dimensions of various components of the oscillating insertion mechanisms were determined based on the kinematic analysis of the single-sided double-needle double-thread stitching processes. Then, a mechanism model was constructed in ADAMS and a trajectory analysis was performed. Finally, stitching experiments were conducted using the prototype. The results show that the designed stitching mechanisms may increase the actual stitching thickness from less than 3 mm to 8 mm and form a stable loop during the stitching processes, confirming the reliability of the asymmetric 8-shaped stitching technique and the oscillating insertion mechanisms.

Key words: single-sided double-needle double-thread stitching, trajectory design, design of oscillating needle insertion mechanism, experimental verification

摘要： 针对单边双针双线缝合头插刺机构无法缝制3 mm以上厚度预制体的问题，提出一种不对称的8字形运动轨迹并对插刺机构的运动轨迹进行了设计。首先，基于单边双针双线缝合工艺对插刺机构运动学进行分析，确定摆动插刺机构各构件的尺寸；其次，在ADAMS中构建机构模型并进行轨迹分析；最后，通过实验样机进行缝合实验。实验结果表明，设计的缝合机构可将实际缝合厚度不足3 mm提高到8 mm，并在缝合过程中形成稳定线环，验证了不对称8字形缝合工艺及摆动插刺机构的可靠性。

关键词: 单边双针双线缝合, 轨迹设计, 摆动插刺机构设计, 实验验证