目的 设计一种快递包装夹持装置，以实现机器辅助快递包装的功能。方法 分析快递包装的现状，研究与快递包装夹持装置相应的工艺流程，设计出一种能起到夹持、升降与旋转快递复合功能的装置。推导并建立装置的运动和力学模型，确定关键参数，通过Adams与Matlab进行仿真实验，最后研制实物并试验。结果 快递包装夹持装置运动轨迹与速度符合要求，包装速度大约为16 s左右，缩短了63.3%的工作时间，包装成功率为95.1%左右，包装连续率在96.0%以上。结论 通过设计的快递包装夹持装置，即可实现快递的夹持、升降与旋转功能，性能稳定且高效。

The work aims to design an express package clamping device to achieve the function of machine-assisted express packaging. After analyzing the current status of express package, the corresponding process of express package clamping device was researched, and a device with complex functions of clamping, lifting and rotating was designed. After movement and mechanics model of the device was deduced and established, the key parameters were determined. The simulation experiment was carried out by Adams and Matlab, and finally the physical object was developed and tested. Motion trajectory and speed of express package clamping device met the requirements. The packaging speed was about 16 s, shortening 63.3% of the working time. The packaging success rate was around 95.1% and the package continuous rate was over 96.0%. Through the design of express package clamping device, the clamping, lifting and rotating functions of the express can be achieved, with stable and efficient performances.