中文摘要：

针对杏果在定向输送过程中可利用其本身固有物理特征进行定向输送,遵照其运动规律,以刚体动力学中欧拉动力学方程为基础,建立单轴对称杏果在定向输送过中的动力学模型,运用四元数法,描述单轴对称杏果质心运动,通过Matlab进行仿真分析,得到质心运动轨迹,最后分析运动轨迹,讨论单轴对称杏果在输送过程中的稳定性问题。同时采用高速摄像的方法,得到杏果在输送过程中的任意位置,结合正交实验方法,取得单轴对称杏果在定向输送过程中的最优组合,与传统方法研究结果一致,从而验证了四元数法在此项研究中的可行性。同时,为单轴水果在定向切分、定向输送、定向检测的研究提供了理论依据。

英文摘要：

For the direction movement of apricot fruit which can be directed to use its inherent physical characteristics during transport,in accordance with its law of motion,it had established kinetic model based on the Euler dynamic equation in rigid body dynamics for the uniaxial symmetry apricot fruit,and used quaternion describing centroid movement of uniaxial symmetry apricot. Through Matlab simulation analysis,it had gotten the centroid trajectory,analyzed it to discuss the stability of the uniaxial symmetry apricot fruit during transport. At the same time,it used high-speed video camera to transcribe apricot fruit＇s transport,which had got apricot fruit＇s location anytime during transport,combined with the orthogonal experimental method to obtain the optimal combinations of uniaxial symmetry apricot fruit in the directing process. The result was consistent with which came from the traditional method,which proved the quaternion used in this research feasible. Meanwhile,it provided the necessary theoretical basis for cutting,orientating,detecting the uniaxial fruit.