This paper presents a motion law of modified trapezoidal accelaration of a rapier. It also establishes and synthesizes a mathematical model for a weft insertion system of the rapier.

• 文中提出一种修正梯形加速度的剑杆运动规律。并对一典型的剑杆织机引纬系统建立数学模型，进行动态综合。