为了提高举升移载机器人运动的平稳性，研究了举升抓取机构在静态和动态特性的振动抑制和抓取机构结构优化问题。首先，构建整机的虚拟样机模型，以此为基础展开多刚体动力学和刚柔耦合动力学分析。从以上两种分析中提取抓取机构在刚体和柔体状态下的质心运动轨迹。通过对比质心刚体与柔体曲线，分析位移偏差与影响振动的原因，并提出振动抑制方法。其次，构建勾爪的有限元模型，分析其静态和动态特性，得出勾爪在静动态特性上具有足够的安全余量，为后续的优化工作提供了边界条件。然后以柔度最小和固有频率最大为目标，对抓取机构进行拓扑优化。在优化后的模型基础上，进行动力学分析和静动态特性的再次验证。最终，通过构建实验测试平台和设计相应的测试方案，对优化前后的勾爪进行实验对比，分析其振动幅度和衰减趋势，实验结果证实了优化后的抓取机构在振动抑制方面取得了显著效果，符合设计预期。通过结构优化和振动抑制的方法，有效地增强了举升移载机器人的平稳性，为此类搬运机械的实际应用提供了一种切实可行的解决方案。

To enhance the motion stability of the lifting and transfer robot, the vibration suppression and structural optimization of the grasping mechanism under static and dynamic characteristics. were investigated. First, a virtual prototype model of the entire machine was constructed, which served as the foundation for multi-rigid-body dynamics and rigid-flexible coupled dynamics analysis. The center of mass motion trajectories of the grabbing mechanism in rigid and flexible states were extracted from these analyses. By comparing the rigid and flexible body center of mass curves, displacement deviations and the causes of vibration were analyzed, and vibration suppression methods were proposed. Next, a finite element model of the hook was constructed to analyze its static and dynamic characteristics. The results indicate that the hook has sufficient safety margins in both static and dynamic properties, providing boundary conditions for subsequent optimization work. Then, the grabbing mechanism was topologically optimized with the objectives of minimizing flexibility and maximizing natural frequency. The optimized model was subjected to dynamic analysis and revalidation of static and dynamic characteristics. Finally, an experimental test platform was built, and corresponding test plans were designed. Experimental comparisons were made between the optimized and non-optimized hooks, analyzing their vibration amplitudes and damping trends. The experimental results confirm that the optimized grabbing mechanism significantly improves vibration suppression, meeting design expectations. Through structural optimization and vibration suppression methods, the stability of the lifting and transfer robot is effectively enhanced, providing a practical and feasible solution for the real-world application of such material-handling machinery.