目的 对码垛机器人的连杆参数进行优化，以保证垛型完全位于码垛机器人工作空间内。方法 通过改变连杆长度l2、l3、关节转角θ3的值，根据运动学方程，利用Matlab编程计算得到码垛机器人工作空间的三维立体图以及xOz平面投影图，经过对比分析选取符合条件的连杆参数。结果 θ3的范围满足要求，无需优化。当l2和l3长度为2290 mm时，码垛机器人的最大工作空间包含任务工作空间。结论 对连杆参数进行了优化设计，机器人的工作空间符合工作要求。

This paper optimizes the linkage parameters of the palletizing robot to ensure that the stack is completely located in the working space of the robot. By changing the values of l2, l3 and joint angle θ3, the workspace measurements of xyz, xOz of the robot were calculated by Matlab programming according to the kinematics equation, and the linkage parameters that meet the conditions were selected through comparison and analysis. The results show that the range of θ3 coincides the requirements, so it is no need to be optimized. And when the length of l2 and l3 is 2290 mm, the maximum workspace of palletizing robot contains the task workspace. After the optimized design of linkage parameters, the workspace of the robot can meet work requirements.