目的 提高大规模定制化按单生产应用场景下桁架机械手分拣码垛下线成品的作业效率。方法 提出一种基于分布重心法的播种区货位分配法，针对分拣码垛桁架机械手系统的工作特点，建立设备分拣任务总时间数学模型，将其归结为以最小桁架机械手带载水平移动总时间为目标的播种区货位分配问题。根据待拣订单货品的初始数量和位置，构建订单–货品分布重心矩阵。在此基础上，依据分布重心系数由大到小的顺序对播种区内的货位进行订单分配。结果 与货位随机分配法相比，采用分布重心法可以将桁架机械手带载水平移动时间平均缩短约28.14%，分拣任务总时间平均缩短约5.78%。结论 通过货位分配的优化，有效缩短了桁架机械手完成分拣任务的时间，提高了系统分拣效率。

The work aims to improve the working efficiency of truss manipulators in sorting and palletizing off-line finished goods in the customized production-to-order application scenario. A location allocation method based on the distribution center of gravity was proposed. According to the working characteristics of the sorting and palletizing truss manipulator system, a mathematical model for the total time of equipment sorting was established, which was attributed to the problem of location allocation with the goal of minimizing the total time of horizontal movement with load. In order to solve this problem, the order-location center of gravity matrix was constructed according to the quantity and location of the goods to be picked. On this basis, according to the order of the distribution center of gravity coefficient from large to small, the orders were allocated to the corresponding cargo location one by one. The example analysis results showed that compared with the random allocation method, the algorithm could reduce the average horizontal moving time with load by about 28.14% and the average time for total sorting task by about 5.78%. The results indicate that the optimization of location allocation can reduce equipment total sorting task time of the truss manipulator and improve equipment operation efficiency of the system.