The work aims to fully understand the performance of palletizing robot, make it better applied in the engi-neering practice, and carry out the theoretical and simulation analysis on its dynamics. The second Lagrange equation was used for the dynamic equation of industrial palletizing robot, and the ADAMS software was used to establish the virtual prototype model of industrial palletizing robot. Considering the friction of load and joint rotation, the simulation analysis was carried out according to the cyclic workflow of the palletizing robot. Dynamic equations of the palletizing robot were obtained and had positive correlation with the load of the robot, the structural mass of the parts and the acceleration during the movement. The stress curves of each joint in the working process of the robot were obtained by simulation, and the driving forces and torques required for each joint increased and varied with the increase in the load and the changing position of the end-effector. The simulation results verify the correctness of the theoretical dynamic analysis, providing an effective theoretical basis for the drive components selection of industrial palletizing robot, and a strong technical support for the industrial palletizing robot to move towards the engineering application in a large scale.