Objective To analyze the robot working-space in the whole robot design process and the pallet packing layout planning process. Methods The kinematics equation was established by using the D-H method and then a four-axis stacking robot was analyzed according to this kinematics equation. At the end, the matrix approach was used to establish the position and pose transformation relationship of palletizing robot. Its positive and inverse kinematics were presented. The calculated results were simulated using the Graphical user interface of software Matlab. Results The work space diagram of the robot, the projection of the workspace in the x-y plane and the projection of the workspace in the x-z plane were obtained. Conclusion The workspace of palletizing robot is displayed in a very intuitive form through the analysis of simulation result attained by the software Matlab.