The study aimed to explore an optimal path of stacking for palletizing Robot to save time. The model of common 4-DOF manipulator was analyzed under a certain posture constraints, and geometry was applied to obtain the inverse kinematics. Considered the palletizing robot stacking as a kind of TSP with ordering constraints, SA algorithm was used to find the optimal path for Stacking and implement palletizing. By compared with the random selected stacking path, we found that a combination of SA algorithm shorten the time of stacking. Taken together, a quick scheme for stacking was proposed by introducing SA algorithm into stacking, which can direct the stacking, feeding and blanking in actual production .