In order to improve the positioning accuracy of picks on cutting head of boom type roadheader and the manufacturing quality of cutting head, pick tip positioning method and pick attitude determining process on cutting head has been analyzed. A special robot system for pick holder positioning based on cutting head design method is proposed and developed, and the method of converting pick arrangement coordinate system to the special robot coordinate system is introduced. The unification of design parameters and manufacturing parameters of picks is realized by rotating tandem hand joint of robot and flipping of turntable. And automatic precise positioning of pick holder relative to the robot hand is realized through the gravity self-positioning principle, which can reduce the complexity of debugging process for the special robot. In addition, the influence of different manufacturing process routes on positioning efficiency of pick holders is analyzed by simulating automatic manufacturing process of the special robot. The results show that the robot automatic positioning technology can effectively improve positioning accuracy of cutting head, and the reasonable manufacturing process route can effectively improve the efficiency of cutting head manufacturing.