Henry then struck him on the arm, which seemed to hurt Smith and he again needed treatment. Smith went to his century off 140 balls with 13 fours.
Voges completed his second test ton in the third last over, off 180 balls with his 15th four.
New Zealand had a glimmer of hope early in the afternoon when Tim Southee and Trent Boult removed openers Joe Burns and David Warner cheaply, with Australia still 19 behind and No. 3 batsman Usman Khawaja unable to bat.
However Smith was quickly into his stride and had a reliable ally in Voges, playing on his home ground.
The first session of the day belonged to New Zealand batsman Ross Taylor, who was last man out for 290, the highest score made by a visiting player in Australia, and third highest by a New Zealander.
Another 13 runs and he'd have made the top score by a New Zealand batsman, held by captain Brendon McCullums 302 against India last year.
New Zealand finished at 624, their highest total against Australia and fifth best overall.
The 1183 runs scored over the course of the first innings of each team is a record for a Waca test.