The model was established for a palletizing manipulator with five degree of freedom (5DOF), and modified form of DenavitHartenberg (DH) convention was applied to establish coordinate in attaching seven link frames to the manipulator. Then, the link coordinate transformations were used together to find the pose of tool coordinate of the manipulator end related to the base frame. By using the separating link variables algorithm to work out the inverse kinematics, analytic expressions of five joint angles were obtained. Finally, the functions provided by Robotics Toolbox were used to modeling and case simulation of kinematics of the manipulator under the environment of MATLAB. The deficiencies of conventional verification process of the inverse kinematics and correspondingly used supplementary measures to solve the problem were pointed out. The simulation results verify the correctness of the forward and inverse kinematics solutions, which can provide kinematics basis for subsequent analysis, motion control and optimization.