Currently, there are Four types of robot palletizers used in industry today.
1. Cartesian
 Cartesian robots move along 3 axes; x, y and z. Each movement is along a straight line with no cylindrical movement. Usually in palletizing, there is no need to rotate a package at odd angles, say 45 degree. So, it is quite common for the rotational unit to either be at rest 0 degree or to rotate to 90 degree with a mechanical stop to prohibit motion past that point. It is possible however, to graduate the motion so that any angular rotation is possible. This graduated rotation adds to the cost of the unit.
Cartesian robots generally lift mid size loads 50 to 100 lbs adequately, at slower speeds than other types of robots. However, this type of robot is also generally lower priced than the other styles of robots.
2. SCARA (Selective Compliant Articulated Robot Arm)
 SCARA robots have joints in the horizontal plane, which allow the arm to swivel about its base and fold in on itself. Its work envelope is cylindrical. These robots maneuver cartons through four axis movement using a mast and cross arm.
3. Articulating Arm
It is the most flexible robot. It is faster than all other types of robotic palletizers and can accept virtually any type of end effector. It can stack cases, bags or drums equally well. Capable of lifting over 400kg at typically 7 or 8 pick-place cycles per minute, this robotic palletizer can rival even high speed palletizers. Flexibility and speed doesn't come cheap, these palletizers typically have a higher price than either the Cartesian or the SCARA palletizers.
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