目的 为了满足码垛机器人能够完成不同类型和规格包装件的码垛作业要求,根据具体的作业要求提出了 2 种不同末端执行器的设计方案。 方法 通过详细的分析和动力学计算,完成了末端执行器的结构设计,并在 Pro / E 平台中建立了该末端执行器的三维模型,最后分析了末端执行器气动系统问题。 结果 该末端执行器能高效地处理各种形态、结构、尺寸不同的包装件,同时又能对同一包装件采用不同方式处理。 结论 这 2 种末端执行器具有很高的实用性和广阔的应用前景。

Objective A design scheme of different end- effector was presented to satisfy the requirements of palletizing packages with different types and specifications according to specific operational requirements. Methods Through analysis and calculation of dynamics, the structure of the end-effectors was designed and three-dimensional models were set up on a Pro / E platform. In the end, the problems in the pneumatic system of the end- effector were discussed. Results The end- effectors could efficiently stack packages of different shape, structure and size, and the end-effectors could also stack the same packages in different ways. Conclusion The experiments showed that the end-effectors have high practicability and thus a good application prospect.