Palletizing manipulator is a common automatic handling equipment,its terminal is a hand device.Palletizing and unpalletizing are all performed through hand device.By configuring a appropriate hand device,the performance and efficiency of palletizing manipulator can be effectively improved.A variety of common used hand devices were studied,and the design,performance and application fields were analyzed and studied.The consideration factors and methods to select the palletizer manipulator and the hand device in practical engineering application were introduced.