中文摘要：

提出了一种剑杆织机引纬运动加速度曲线方程,它采用三次埃尔米特插值多项式为过渡段。加速度曲线光滑连接,为对称的修正梯形加速度运动规律。由加速度曲线方程及其边界条件推导了速度、位移和跃度方程。实例计算表明,该新型引纬运动学曲线能很好地满足剑杆织机的织造要求,降低了机构的加工难度。

英文摘要：

This article presents a new kind of acceleration curve equation of weft insertion motion on rapier loom.By using cubic Hermite interpolation polynomials for the transition section,the curve is smoothly connected, which is a kind of symmetrical modified trapezoidal acceleration motion.Velocity,displacement and jerk equations are deduced in detail according to the acceleration equation and their boundary conditions.Example shows that this new weft insertion kinematics curve can meet the weaving requirements of rapier loom well,and reduce the processing difficulty of the mechanism.