目的 应用Ansys Workbench软件对一种包装堆垛机械手的结构进行优化，减少结构质量，提高机械手的工作效率和定位精度。方法 对机械手进行建模及使用应力分析软件对其进行静力分析、模态分析，并利用拓扑优化方法的变密度法，对机械手结构的关键部位进行拓扑优化。结果 机械手在满足整体强度的条件下，改变其质量分布，选择合理的驱动电机，达到减弱振动和轻量化的成效。结论 拓扑优化方法的变密度法为机械手的结构优化和提高执行工作频率提供了一种高效可行的途径。

The work aims to optimize the structure of a stack-manipulator for packaging with Ansys Workbench, so as to reduce the structure weight and improve working efficiency and positioning accuracy of the manipulator. Modeling of the manipulator was done and the static and modal analyses were carried out with stress analysis software. The key structural parts of the manipulator were topologically optimized through the variable density method of topology optimization. Under the condition of satisfying the overall strength of the manipulator, its qualitative distribution was changed and a reasonable driving motor was selected in order to realize less vibration and light weight of the manipulator. In conclusion, the variable density method of topology optimization is an effective and feasible way for structural optimization of the manipulator and improving its work efficiency.