Objective To simulate and optimize workspace for a new parallel palletizing robot, and explore its structural characteristics. Methods Numerical method was used to get 3D and 2D figures of workspace by Matlab software, on this basis, sampling method was used to simulate the workspace, and the effects of the workspace on screw stroke x, y and the structural parameters c and h. Results When the screw stroke x, y was increased, the inclined guide surface robot had a higher and larger effective working space; when the size of structural parameters c was increased, the transverse(width) of workspace became wider; when the size of structural parameters h was increased, the longitudinal (height) of workspace became higher. Conclusion The nonlinear characteristics of the parallel structure, which means the effect of structural parameters on the workspace could not be studied through the kinematic equations directly. A rectangular area with 450 mm×700 mm of effective working space was obtained through the above methods, under the screw stroke x= 50~320 mm, y=80~330 mm, and structural parameters c=200 mm, h=180 mm, and it had a good distribution workspace location to meet operational requirements.