Objective A design scheme of different end- effector was presented to satisfy the requirements of palletizing packages with different types and specifications according to specific operational requirements. Methods Through analysis and calculation of dynamics, the structure of the end-effectors was designed and three-dimensional models were set up on a Pro / E platform. In the end, the problems in the pneumatic system of the end- effector were discussed. Results The end- effectors could efficiently stack packages of different shape, structure and size, and the end-effectors could also stack the same packages in different ways. Conclusion The experiments showed that the end-effectors have high practicability and thus a good application prospect.