单边缝合技术作为一种新的复合材料预制件加工方法能够克服传统缝合设备无法加工三维空间复杂形状大型结构件的缺陷。为了实现缝合线迹的稳定成型，避免单边缝合机械手系统在缝制加工过程中出现跳针，断线及线迹松弛等问题，在分析单边缝合机械手系统的工作原理基础上，提出一种控制缝线供需平衡以保证缝合线迹稳定成型的思想，通过分析缝合机构的运动规律，建立针对于单边缝合技术的缝线瞬时需线量分析模型，同时从挑线机构运动规律及缝线线道设计方面给出相应的供线量模型，并提出单边缝合线迹稳定成型条件。通过算例分析验证了模型的合理性与可行性，缝合试验结果表明所提出的方法可用于单边缝合机械手系统的线迹稳定成型控制，也为同类缝制设备的研制提供了理论参考。

As a new kind of machining method,one-side sewing technology can overcome the limit of suture position and flexibility of the traditional two-sides sewing technique during the process of manufacturing the three-dimensional large composite structures. Based on reviewing the work principle of one-side sewing manipulator,an idea of dynamic sutures equilibrium for stable forming control of the stitches is put forward. By analyzing the motion law of suturing mechanism and the layout of suture position,a calculation model of the amount of instantaneous suture demanding is established,and the corresponding model of the amount of suture supplying is put forward simultaneously. Numerical examples and experiment shows that the proposed method can be utilized for the stable forming control during the process of one-side sewing. And a theoretical reference for design and calculation of similar sewing equipment is provided.