中文摘要：

工业机器人的研究与应用开发是机器人技术的发展趋势，机械爪作为机器人的末端执行器的一种，在机器人技术的研发与应用中占有重要的地位。基于快速变型设计理念，根据工业机器人应用对象的拓扑结构设计末端执行器，并利用Pro／E软件构建机械爪的三维运动仿真模型。通过Mechanism模块进行动态模拟，分析其运动状况并提出优化设计方案。截取合适的三维模型导入HpyerMesh，建立有限元分析模型，加载后再导入ANSYS中得到核心部件的应力分布情况。通过对虚拟样机的仿真分析验证了机械爪达到了设计要求，并为深入进行该类机械爪的性能分析奠定了基础。

英文摘要：

Research and application development of the industrial robot is the trend of the development of robot technology, and mechanical paw as a kind of the end of the robot actuator, is very important in research and development and application of robot technology. By adopting the rapid variant design concept, it devises an end effector in accordance with the topological structure of industrial robot application object. By using Pro/E software, establishes a 3D kinematic simulation model of the mechanical claw. Through the mechanism module for dynamic simulation of the mechanical claw working process, it can analyze the exercise status and propose optimization program. It can cut a proper the three-dimeusional model for HpyerMesh and establish finite element model, loading and then importing ANSYS to obtain the stress distribution of the main stress components. Finally, it can verify the mechanical paw that has reached the design requirements by the analysis of virtual prototype and lay the foundation of the performance analysis of this type of mechanical claw.