目的 设计一种快递包裹码垛机器人，以更好地完成快递包裹的分拣与码垛工作。方法 通过Inventor软件建立整机三维模型，运用D-H齐次坐标变换矩阵建立其左前腿运动学方程，基于ADAMS虚拟样机技术对该快递包裹码垛机器人腿部结构进行结构优化，并对该机器人分别实施滚动式水平面行走、吸附式爬壁行走的功能特性进行深入分析。结果 得出腿部优化设计变量对转角的敏感度，最终得到最佳腿部结构，大腿关节转角活动范围可达到27.34°，重心高度稳定在340 mm左右，重心稳定。结论 仿真结果表明，该快递包裹码垛机器人具有机构设计合理、运动稳定可靠、动作灵敏等特点，为现有快递行业提供了一款节省人力及时间的劳动工具。

The work aims to design an express package palletizing robot for the purpose of better finishing the sorting and palletizing of express package. The complete machine three-dimensional model was established by Inventor software. The left front leg kinematic equation was established with D-H homogeneous coordinate transformation matrix. The structural optimization of the leg structure of the express package palletizing robot based on ADAMS virtual prototyping technology was carried out. The functional characteristics of rolling-type horizontal walking and adsorption-type wall climbing of the robot were respectively implemented for in-depth analysis. The sensitivity of leg optimal design variable to the angle of rotation was acquired to finally obtain the optimal leg structure. The range of motion of thigh joint angle could reach 27.34°, the height of gravity center was stable at about 340 mm, and the center of gravity was stable. The simulation results show that, the express package palletizing robot is characterized by reasonable mechanism design, stable and reliable movement, sensitive action and so on. It can be a tool that is applied in the current express industry and saves manpower and time.