中文摘要：

针对单轴对称水果杏子在输送过程中的运动，以刚体动力学为基础，建立欧拉动力学方程，通过四元数转换，得到一组关于角速度与四元数的方程组；然后运用 MatLab[1]对其运动状态进行仿真，得到运动轨迹，通过正交试验来验证四元数在单轴对称水果输送过程中的正确性。 MatLab仿真结果表明，在施加微小力矩情况下，杏子在定向过程中绕固定轴转动。正交实验得到的最优组合为：高速、宽口、大横径。由杏子在输送过程中的运动状态以及正交试验的对比，有效地证明了四元数在单轴水果输送过程中的可行性，为杏子的切分提供必要的理论依据。

英文摘要：

Research uniaxial symmetry fruit apricots during transport trajectories.We established the Euler dynamics equation through the apricots in the directional movement of the machine state analysed , get a group of equations on angular velocity and quaternion by quaternion conversion ,get motion trajectory of apricots with Matlab simulation , and verity the feasibility of the quaternion on uniaxial symmetry by orthogonal experiment .Matlab simulation results show that in the case of applying a slight moment , apricots during orientation around a fixed axis .Orthogonal obtain the optimal combination： high-speed , wide mouth , large diameter .Constast the state of motion of apricots in the transportation procee and orthogonal experiment , prove the feasibility of uniaxial symmetry fruit directional transport process using Quaternion ,for uniaxial symmetry fruit slicing machines provide a theoretical basis .