Abstract: Aming at the automatic paint stripping and grinding of civil aircraft fuselage, the motion mechanism of the end actuator was designed by UG and imported into the RobotStudio library, and the automatic paint stripping and grinding workstation of aircraft fuselage was built. Smart component is used to simulate the communication between the end effector and the robot control program, and a robot program for online generation of grinding track is written with RAPID code, which solves the problem that the grinding head and the grinded surface cannot locate each other. Compared with the off-line program, the on-line robot program proposed in this paper has the ability to obtain unknown surface data in the field, and the deviation between the actual posture and the ideal posture of the grinding head can be used as real-time control data, which is convenient and reliable with high control accuracy. Finally, the angle deviation, displacement deviation and TCP volocity of robot grinding under the two working conditions are compared and analyzed, and the workstation is tested and optimized, and the expected effect is achieved.