The work aims to design an end-effector with large load capacity, in order to improve the efficiency of pal-letizing production line and realize the function of high-efficiency heavy-load palletizing. The structural design and principle of the end-effector were analyzed in detail, and its 3D model was established and designed. Kinematics analysis and calculation of fast positioning mechanism and heavy-load clamping mechanism were carried out, and the kinematics pa-rameter model of the mechanism was established. ADAMS was used to simulate and analyze the dynamics of heavy-load clamping mechanism with different wedge angles. The force, displacement, velocity and acceleration characteristic curves of wedge and roof corresponding to wedge angle of 45°, 30° and 15° were obtained. The analysis showed that the end-effector had good mechanical properties when the wedge angle was about 15°. The end-effector can meet the working requirements and has little impact damage to the wood slab, which can improve the efficiency and stability of palletizing.