Product packaging is one of the key industrial sectors where automation is of paramount interest. This paper deals with the conceptual design and kinematic simulation of the machine for a carton packaging robot. In a conceptual design phase, many studies for packaging robots are investigated, leading to the invention of a carton packaging robot. Combining this robot with two 3-DOF fingers mechanism, two 2-DOF fingers mechanism, two tappets and cams mechanism, a carton packaging robot can be created which is particularly suitable for package cartons at very high speed. In this paper we also present a workspace analysis methodology that can be applied for optimal design of robots in the further work.