目的 研究某自动化流水线三自由度机械手的运动学特性和试验分析方法。方法 创建机械手的 D-H 法运动方程；在 SW 中建立机械手模型，并导入 RecurDyn 中完成对机械手的运动学仿真；最后对试验样机进行试验验证分析。结果 通过运动学仿真分析得到连杆 2 末端点在 x 轴、y 轴、z 轴上的位移变化量分别为 67, 75, 150 mm，最大速度设计目标与仿真结果的误差百分比分别为−0.53%, −1.57%, 3.08%，最大加速度的误差百分比分别为 2.2%, −0.087%, −3%；建立了试验验证平台，通过模块化设计软件，试验得出该机器手的运动学特性良好，电机电流曲线平滑稳定。结论 该自动化流水线三自由度机械手具有运动连续且平稳、控制简单的特点，符合自动化流水线的工作特性。

The work aims to study the kinematic characteristics and experimental analysis method of a three- degree-freedom manipulator in an automatic assembly line. The D-H motion equation of the manipulator was created. The manipulator model was built in SW and imported into RecurDyn to complete the kinematics simulation of manipulator. At last, the test prototype was validated and analyzed. Through kinematics simulation analysis, the displacement changes at the end points of link 2 on the X-axis, Y-axis and z-axis were respectively 67 mm, 75 mm and 150 mm. The error percentages of the maximum speed design target and the simulation result were respectively -0.53%, -1.57% and 3.08%, and the error percentages of the maximum acceleration were respectively 2.2%, -0.087% and -3%. The test verification platform was set up. Through modular design software, it was found that the kinematics characteristics of the manipulator were good and the motor current curve was smooth and stable. The three-degree-freedom manipulator of the automatic assembly line has the characteristics of continuous motion, stable motion and simple control, which is in line with the working characteristics of the automatic assembly line.