Abstract: For the new configuration of a palletizing robot whose revolute pair is drived with a rocker-crank mechanism,its instantaneous inertial force system was transformed into a static system by using kineto-static methods.A kineto-static model of a TH50 palletizing robot was derived from the force equilibrium equations of the robot and its subsystems.Computer programs for calculating the forces of the robot's key components were written in Matlab and a sample was given and analyzed.The results show that the kineto-static model is correct and it has been successfully used in the design of a TH50 palletizing robot.