目的 为了解决六轴机器人包装行业中装箱、搬运等工序的应用问题，主要基于包装生产线的搬运工序设计作业机器人并对其动力学进行研究。方法 根据包装生产线搬运工序的作业特点，将机器人结构设计为六轴关节型机器人，每个关节均通过伺服电机连接减速器驱动，通过牛顿-欧拉法对机器人进行动力学分析，建立机器人模型，并运用ADAMS软件对其动力学进行仿真分析。结果 所设计机器人关节的运动轨迹曲线平稳变化，轨迹平滑连续，角速度和角加速度曲线平滑、无突变。结论 机器人运动平稳，在运动过程中振动较小，证明了结构设计的合理性，为六轴机器人的优化设计提供了理论基础。

In order to solve the application problems of six-axis robots in packing industry, such as packing, handling and other processes, in this paper, the robot is designed based on the handling process of the packaging production line and its dynamics is studied. According to the operation characteristics of the handling process of the packaging production line, the robot structure is designed as a six-axis joint robot, and each joint is driven by a servo motor connected with a reducer. The dynamics of the robot is analyzed by Newton-Euler method, and the robot model is established and its dynamics is simulated by ADAMS software. The motion trajectory curve of the designed robot joint changes smoothly, the trajectory is smooth and continuous, and the angular velocity and angular acceleration curve are smooth without mutation. The robot moves smoothly and has little vibration during the movement, which proved the rationality of the structure design and provides a theoretical basis for the optimal design of the six-axis robot.