为满足码垛机器人完成不同类型和规格包装件的码垛作业要求，提出了一种新型的码垛机器人多功能末端执行器的设计方案。该方案采用气动驱动，通过夹持机构、抓取机构和吸附机构，实现各类包装件和托盘以及垫纸等的夹持、抓取、吸持等动作。在总体方案的基础上，通过详细设计分析与计算，完成了末端执行器的结构设计，并在SolidWorks软件平台上建立了末端执行器的三维CAD模型，最后进行了气缸选型和气动系统设计。该末端执行器设计合理，迎合了实际情况和需求，具有良好的应用前景。

A new design scheme of multifunctional end effector of palletizing robots was presented to satisfy the requirements of palletizing different types and specifications packages. Clamping of boxes, grasping of bags, pallets and pails, sucking of sheets were implemented by the clamping, grasping and sucking mechanisms driven by pneumatics. By analyzing and calculation, the structure of the end effector was designed and 3D CAD models were set up in SolidWorks platform based on general plan. Finally the cylinder type selection was completed and the pneumatic system of the end effector was designed. The general design is reasonable and meets the actual situations and requirements. It has a good application prospect.