Abstract: According to the bag and palletizing specifications,a new design scheme of high-speed palletizing manipulator is presented.Grasping,carrying and stacking of bags are implemented by the open and close mechanism of finger,side board and press mechanism driven by compressed air.By analyzing and calculation,the structure of the manipulator is designed and three-dimensional CAD models are set up in a Pro/E platform.Some problems on the motion planning,dynamics computation and pneumatic system of the manipulator are discussed.The simulation results showed that the manipulator can work better for palletizing in stated time.