目的 针对生产线码垛作业，设计一种四轴码垛机器人以满足货物搬运需求。方法 利用平行四边形机构对码垛机器人进行结构设计。根据码垛机器人的结构特点，采用运动D-H方法对该机器人进行运动学分析，通过SolidWorks建立码垛机器人实体模型，并将其导入Matlab中，在仿真环境中调整相应参数，得到机器人的动力学仿真模型，再利用Simulink添加控制模块、驱动模块和检测模块，建立完整的仿真模型。通过SolidWorks与Matlab两者的结合进行机器人动力学仿真分析。结果 运用SolidWorks与Matlab联合仿真，可以缩短设计周期，有效地获取其动力学特性参数。结论 四轴码垛机器人可以有效解决生产线上的码垛作业问题。

The work aims to design a new type of four-axis palletizing robot for palletizing operation of the production line. The parallelogram mechanism was used to design the structure of the palletizing robot. According to structural characteristics of the palletizing robot, the kinematics analysis of the robot was carried out by the MDH method. The robot solid model was established by SolidWorks and imported into Matlab. The corresponding parameters were adjusted in the simulation environment to obtain the dynamic simulation model of the robot. Then Simulink was used to add control module, driving module and detection module to establish a complete simulation model. Through the combination of the two, the robot dynamics simulation analysis was carried out. Co-simulation with SolidWorks and Matlab can shorten the design cycle of the robot and effectively obtain the dynamic characteristic parameters of the robot. The new four-axis palletizing robot can effectively solve the problem of palletizing operations on the production line.