Motion analysis and research of manipulator in unilateral suture robot

To manufacture three-dimensional textile composite preform using method of unilateral suture technique, a unilateral suture manipulator system has been designed. In order to inspect whether it can meet the design requirements, this article establish the kinematic model of the major institutions by using vector method,and use simulation software to analysis the kinematics of thread-leading, thread-hooking and thead-taking-up mechanism. Accordingly, law of motion graphs of the mechanism can be reflected, and the simulation results demonstrate the design of unilateral suture manipulator which are reasonable and efficient.