Structure analysis of four-bar linkage adopted in four-DOF palletizing robot is carried out.In the meanwhile

the kinematics analysis of the robot kinematics model established through D-H method is carried out

including the analysis of forward kinematics

inverse kinematics

working space and flexibility.Furthermore

simulation of working space is accomplished by taking advantage of the software MATLAB

and experimental verification of palletizing prototype under laboratory environment is also carried out

the feasibility of the robot working space and operational capability is verified.