In order to solve the application problems of six-axis robots in packing industry, such as packing, handling and other processes, in this paper, the robot is designed based on the handling process of the packaging production line and its dynamics is studied. According to the operation characteristics of the handling process of the packaging production line, the robot structure is designed as a six-axis joint robot, and each joint is driven by a servo motor connected with a reducer. The dynamics of the robot is analyzed by Newton-Euler method, and the robot model is established and its dynamics is simulated by ADAMS software. The motion trajectory curve of the designed robot joint changes smoothly, the trajectory is smooth and continuous, and the angular velocity and angular acceleration curve are smooth without mutation. The robot moves smoothly and has little vibration during the movement, which proved the rationality of the structure design and provides a theoretical basis for the optimal design of the six-axis robot.