The invention discloses a glass mould polishing robot based on a parallel mechanism. The glass mould polishing robot includes a rack, a three-degree-of-freedom parallel mechanism, a polishing assembly, a force feedback device, a machine vision measuring mechanism and a two-dimensional moving platform, wherein the polishing assembly comprises a polishing motor and a polishing grinding head driven by the polishing motor; one end of the polishing assembly is hinged to a moving platform of the three-degree-of-freedom parallel mechanism, the force feedback device comprises a force sensor used for measuring contact pressure of a polishing workpiece and the polishing grinding head and a force actuator used for adjusting the contact pressure, one end of the force feedback device is hinged to the moving platform of the three-degree-of-freedom parallel mechanism, and the other end of the force feedback device is hinged to the polishing assembly; and the machine vision measuring mechanism comprises a machine vision camera and a laser profile measurement head, the two-dimensional moving platform is used for carrying the polishing workpiece and make the polishing workpiece move in the plane, and the machine vision measuring mechanism and the three-degree-of-freedom parallel mechanism are arranged above the two-dimensional moving platform. According to the glass mould polishing robot, complex programming of numerical control machine tool polishing can be avoided, operative difficulty index is reduced, and the polishing efficiency is improved.