In order to design an automatic packing robot for small size pouch foods placed in chaos, a parallel pick-up robot is designed on the basis of analyzing the actual requirement of bagged food packing, and its performance parameters and mechanical structure are determined. Then the space motion trajectory of the robot is planned, and Adams software is used. The planning path is simulated. The results show that the designed robot can grasp and release accurately, and move smoothly in the planned path, and the trajectory is standardized to meet the design requirements.