With a palletizing robot as an example, the paper focused on the method of kinematics and dynamics simulation analysis of the rigid-flexible coupling palletizing robot system, and the analysis on the impact of the rod elastic deformation on the motion accuracy of the robot end effector. Matlab/Robotcis toolbox was used to program and perform kinematics simulation for the palletizing robot, getting the angular displacement curves of the joints. A virtual prototype of the palletizing robot was created by ADAMS, and dynamics simulation was conducted. Meanwhile, the MNF neutral file was generated by flexible treatment of the arm rods in Ansys, and was then imported into ADAMS to build the rigid-flexible coupling model to conduct simulation analysis. As a result, the displacement deviation curve of the robot end-effector when the palletizing robot moved under loads was drawn and the driving torque of each joint was obtained. In conclusion, the analysis method of rigid-flexible coupling was more intuitive and accurate to simulate the actual working condition of the robot, and could improve the accuracy of dynamic response analysis of parts under dynamic loading. Thus, this could provide a theoretical basis for the optimization design and driver selection of the palletizing robot.