本文对动态综合时剑杆运动规律的选择问题作了讨论。分析了剑杆动态位移的三阶导数和四阶导数对引剑机构名义运动的不利影响,并提出了减小这种影响的措施;对现有的几种剑杆动态运动规律的加速度峰值以及位移对时间的三阶导数和四阶导数进行了比较。最后,本文提出了一种以五次多项式为过渡段的修正梯形加速度规律,该规律保证了剑杆动态位移的三阶导数和四阶导数不发生突变。 This article discusses the selection of rapier motion law when it is dynamically synthesized. The third derivative and fourth derivative of the dynamic displacement of the rapier have been analyzed. The negative influence of the third derivative and the fourth derivative of the rapier on the nominal movement of the lead mechanism has been analyzed. Some measures to reduce this effect have been proposed. Displacements compare the third and fourth derivatives of time. Finally, we propose a modified trapezoidal acceleration law based on the fifth-order polynomial transition, which guarantees that the third and fourth derivatives of the rapier’s dynamic displacement will not change suddenly.