真空夹持器在机械化订单分拣应用中起着重要作用。因此，设计一种适用于高度灵活包裹处理的合适夹持器是一项关键任务。本文介绍了真空夹持器设计过程中遇到的问题的解决方法。描述了在开发一种夹具的设计方法和实现中存在的问题。详细推导了一个案例的动态建模和分析概念。 此外，还介绍了几种不同吸盘阵列的最大保持力。实际应用表明，基于该设计的手爪具有良好的性能。最后，建议对第二代夹持器进行进一步改进。

VACUUM GRIPPERS PLAY AN IMPORTANT ROLE IN THE APPLICATION OF MECHANIZED ORDER PICKING. DESIGNING AN APPROPRIATE GRIPPER TO BE APPLIED TO HIGHLY FLEXIBLE PARCEL HANDLING, THEREFORE, IS A CRUCIAL TASK. THIS PAPER PRESENTS THE SOLUTIONS TO THE PROBLEMS ENCOUNTERED DURING THE DESIGN PROCESS OF A VACUUM GRIPPER. A DESCRIPTION OF THE PROBLEMS IN DEVELOPING A DESIGN APPROACH AND IMPLEMENTATION OF THE GRIPPER IS GIVEN. THE CONCEPT OF DYNAMIC MODELING AND ANALYSIS FOR ONE CASE HAS BEEN DERIVED IN DETAIL. ALSO, THE MAXIMUM HOLDING FORCE FOR A NUMBER OF DIFFERENT SUCTION CUPS ARRAYS ARE PRESENTED. THE IMPLEMENTATION INDICATES THAT THE GRIPPER BASED ON THIS DESIGN HAS SATISFACTORY PERFORMANCE. FINALLY, FURTHER IMPROVEMENTS FOR A SECOND GENERATION GRIPPER ARE RECOMMENDED.