Abstract: The current developments and major stumbling blocks that prevent widespread use of belt grinding robot are concluded.Based on the requirements of the complex surface grinding task,a new type of grinding robot,PPPRRR,is proposed.The robotic type features its high accuracy and high structural stiffness.Product of exponentials formula in twist theory is used to derive the kinematical and inverse kinematical equations of the belt grinding robot.Simulated annealing algorithm is used to analyze the dexterous grinding workspace with respect to the coordinate system of end effector,and the cross section drawings of the dexterous grinding space are drawn.Furthermore,the belt grinder's position with respect to the robot base is optimized with the pattern search method to obtain the maximum volume of the dexterous grinding workspace,which improves the dexterity of the robotic belt grinding system.