The forward and inverse kinematic solutions of the locally closed-chain palletizing robot were obtained by D-H method, and the reachable workspace was drawn by MATLAB. A robot arc transition path planning was completed based on the task requirements and production site layout plan. According to trajectory planning results, taking the shortest running period of the robot on the target trajectory as the objective, three acceleration laws of sine, polynomial and corrected trapezoid were selected for optimization. The kinematic inverse solution was used to map the trajectory planning of operation space to joint space, and the time-varying relations of displacement, velocity and acceleration of each joint on the target trajectory were obtained. The results show that the operation period can be shortened effectively by using the motion law of corrected trapezoid under the arc transition mode.