The pitot tubes’ material is 2A12 aluminum alloy, belongs to Al–Mg–Cu–Si–series wrought aluminum alloy. The alloy has good corrosion resistance, weld ability and cold working ability. It is mainly made of aluminum alloy with copper as the strengthening term. Because the main alloy elements contain Mg, Si, and form Mg2Si, they have better processing properties and higher tensile strength, yield strength and hardness. Strengthened copper content is relatively high, hardness is moderate, thermal conductivity is large, beneficial to cutting. At the same time, it is easy to cause hot deformation in cutting. Therefore, it is difficult to control the dimensional accuracy. In this paper, the robot belt grinding method and adaptive machining technology was used to grind the pitot tubes of aluminum alloy. The point position in formation of parts was identified by blue light and added into Polyworks software based on standardized model. According to the point position information extracted from the web welded airspeed tube parts, the fourth-order homogeneous matrix was established to inversely calculate the motion trajectory of the robot to ensure the grinding posture and grinding param eters. Finally, the adaptive processing method is adopted, according to the surface allowance information of the web welded pitot tube parts. Then, the material removal of web welded pitot tube parts is quantitatively carried out to ensure the processing accuracy.