介绍立体仓库的组成部分机械手,从机械手的设计原则、结构类型的选取、结构设计原理、机械手控制系统的确定、系统硬件组成、采用模块化的设计理念对一种气动机械手进行系列化设计并对其运动进行初步设计,通过对设计的系统调试,仓库模型控制系统能够通过手动和自动控制方式较为准确地完成货物的存放功能。 This paper introduces the components of the three-dimensional warehouse manipulator, from the design principles of manipulator, the selection of structure type, structural design principle, the robot control system to determine the system hardware components, The movement of the preliminary design, through the design of the system debugging, warehouse model control system through manual and automatic control of the more accurate completion of the goods storage function.