Objective Simulate and optimize workspace for a new parallel palletizing robot, and expound its structural characteristics. Methods Use numerical method to get 3D and 2D figures of workspace by Matlab software, On this basis, use sampling method to simulate the workspace, and study the trend affecting of the workspace on screw stroke x, y and the structural parameters c and h. Results Increase the screw stroke x, y, the inclined guide surface robot has a higher and larger effective working space; increase the size of structural parameters c, the transverse(width) of workspace becomes wider; increase the size of structural parameters h, the longitudinal(height) of workspace becomes higher. Conclusion On account of the nonlinear characteristics of the parallel structure, it cannot to study effect of structural parameters on the workspace through the kinematic equations directly. Obtain a rectangular area 450×700 of the effective working space through above methods, under the screw stroke x=50~320 mm、y=80~330 mm,structural parameters c=200 mm、h=180 mm, and it has a good distribution workspace location to meet operational requirements.