In this paper, the auto fiber placement machine was applied to process antenna plane, and the fiber placement experiment was conducted with robot. Due to the equation of the antenna, the fiber placement track was designed with the equidistant offset method. By analyzing the placement pressure and the full as time as the smooth during the fiber placement, which decides that placement pressure is 0.2 MPa,and the number of fiber tow is 4. In addition, the joint and the paramedic of the robot are analyzed, the placement tract is simulated by DMU module of CATIA. The fiber placement test is conducted with 16 mm/s speed at 26℃ in order to test and verify the process.