中文摘要：

文章设计模仿人工套袋动作的全自动套袋机的关键部件上袋机械手机构。对有或无旋转预应力、不同旋转方向产生的预应力、相同旋转方向不同转速值产生的预应力工况下的上袋机械手进行模态分析，比较系统的固有频率和振型，分析上袋机械手的动态性能。根据仿真结果对机构进行优化，并通过仿真和试验验证优化的正确性。

英文摘要：

Mechanical hand mechanism acting as a key component of automated bagging machine is designed by imitating manual bagging action. Modal analysis of bagging mechanical hand is performed in the following conditions, with or without rotating pre-stress, with rotating pre-stress resulting from different directions of rotation, and with rotating pre-stress resulting from the same direction of rotation at different speed. Then the comparison of natural frequencies and vibration mode and the dynamic performance analysis of bagging mechanical hand are done. Mechanical hand mechanism is optimized based on the simulation results. Finally, the correctness of optimization is verified by means of simulation and experiment.