In order to realize the rapid transportation and packaging for large weight and large volume wooden doors, a 6-DOF palletizing robot was designed. The key parts of the robot are selected, the kinematics model of the robot is established by D-H parameter method, and the forward and inverse kinematics analysis is carried out; the working space of the robot is calculated, and the limit position that the robot can reach is obtained, which provides a reference for the layout scheme of the robot; the dynamic model of the palletizing robot is established by using ADAMS software to carry the wooden door, which is for the simulated analysis of the dangerous working condition of packaging. The results show that when the palletizing robot is in the dangerous condition of maximum arm span, the force and torque of the arm are the largest, and the maximum force and torque are 12.9 kN and 13.5 MN/mm respectively. For the convenience of a further exploration of the mechanical characteristics of the boom, the boom is flexible, and with such a way the force and torque fluctuations and the maximum dynamic stress point of the boom are obtained. The maximum force and torque fluctuations of the boom are 621 N and 895 kN/mm in z direction and y direction respectively. There is no obvious change in the force and torque of each joint of the robot, and the rigid impact is less; it proves the rationality of the design of the arm under the condition of high speed and heavy load, and lays an important foundation for the further optimization and lightweight design of the robot structure.