目的 为了提高码垛生产线的效率，实现高效重载码垛的功能，设计一种具有大负载能力的末端执行器。方法 详细分析该末端执行器的结构设计及原理，并完成其三维模型的建立与设计。对快速定位机构、重载夹紧机构进行运动学分析及计算，并建立机构的运动学参数模型。利用ADAMS对不同楔块斜角的重载夹紧机构进行动力学仿真分析。结果 获得了45°，30°，15°楔块斜角对应的楔块和顶板的力、位移、速度、加速度特性曲线；分析得知楔块斜角在15°左右时，末端执行器具有较好的力学特性。结论 该末端执行器能够满足工作要求，对木板有较小的冲击破坏，能够提高码垛的效率及稳定性。

The work aims to design an end-effector with large load capacity, in order to improve the efficiency of pal-letizing production line and realize the function of high-efficiency heavy-load palletizing. The structural design and principle of the end-effector were analyzed in detail, and its 3D model was established and designed. Kinematics analysis and calculation of fast positioning mechanism and heavy-load clamping mechanism were carried out, and the kinematics pa-rameter model of the mechanism was established. ADAMS was used to simulate and analyze the dynamics of heavy-load clamping mechanism with different wedge angles. The force, displacement, velocity and acceleration characteristic curves of wedge and roof corresponding to wedge angle of 45°, 30° and 15° were obtained. The analysis showed that the end-effector had good mechanical properties when the wedge angle was about 15°. The end-effector can meet the working requirements and has little impact damage to the wood slab, which can improve the efficiency and stability of palletizing.