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In order to solve the rapid prefabrication of complex and irregular surface texture of precast concrete(PC), a multi degree of freedom(DOF) surface finishing robot and its end-effector are designed, and a building information model(BIM) driven robot path planning method is proposed, which realizes rapid automatic processing of PC components with irregular surface texture. Firstly, the forming mechanism of the complex irregular surface texture is discussed, and the relationship between the width of the texture and the cutting depth, the rotation angle of end-effector and other factors are analyzed. Subsequently, an off-line path planning method is formulated that can generate robot processing path from texture’s BIM model directly. Finally, a prototype robot is developed to analyze the optimal processing conditions and perform some surface finishing experiments. The experimental results verify the feasibility and effectiveness of the designed robot and proposed method.