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To fit the demand of automatic pick and place in the manufacture process of medicine packaging and electromechanical assembling,a high-speed 2-DOF parallel robot using linear servo technology is designed in this thesis. Firstly, the mechanical structure design of the robot is introduced, according to the results of kinematics analysis, the workspace of the 2-DOF parallel robot is obtained via Monte-Carlo method and geometrical method. Secondly, a control system consist of MCU and CPLD(STM32F103+MaxII)is adopted, an efficient approach to generating motion curve programs in MCU is proposed based on workspace. And we use DDS(Direct Digital Frequency Synthesizer) to generate square wave in accordance with motion parameters, then we transform square wave to differential signals which will be sent to servo driver. In the design of communication between the two controllers, a two stage data buffer is presented by rational use of state machine in CPLD, which can realize the interleave of MCU read and CPLD write to achieve seamless refresh of data. Finally we complete the manufacture and adjustment of the robot demo, the results shows that the performance of the 2-DOF parallel robot system is stable and reliable, at the same time the robot can pick and place the prill quickly.