The paper aims to simplify the gripper mechanism of the palletizer and solve the symmetry problem of the gripper gripping mechanism of the palletizer. On the basis of literature review, a clamping mechanism of high-level palletizer gripper was designed. From the perspective of mechanism symmetry, a mathematical model of the clamping mechanism was established, and the parameters of the mechanism were numerically optimized by particle swarm optimization algorithm based on AIWF. After optimization, the maximum symmetry deviation of the gripper was reduced from 1.0423° to 0.4113°, and the optimization effect was obvious. A corresponding prototype model was established in Adams software, and the correctness of the numerical optimization results was verified through simulation analysis. The designed gripper mechanism of the palletizer is simple, with good symmetry and good practical application effect.