The tensioning of the prepreg strip substrate on the surface of aerospace special-shaped workpiece is the key process to ensure the thermal protection performance and structural durability of aerospace products. A surface rolling device composed of two-stage mechanism in series was proposed for the purpose of roller tensioning of the surface substrate of aerospace special-shaped workpiece. Firstly, based on the rolling process requirements, the number of degrees of freedom that the mechanism end needs to satisfy was obtained and the mechanism design was carried out. By combining the linkage mechanism with 2T1R motion capability and the parallel mechanism with 3R motion capability in series, the 2T3R motion capability required for the task was achieved. Secondly, kinematic analysis was carried out for each of the two mechanism components, the kinematic model is established and the workspace analysis was conducted. Then, based on the kinematic dexterity and dynamic dexterity, the global comprehensive performance evaluation indicators were proposed respectively, and the multi-objective scale optimization was carried out using NSGA-Ⅲ to complete the prototype structure design. Finally, the kinematic simulation of the prototype model was conducted using the Adams virtual environment to verify the motion performance of the mechanism. At the same time, modal analysis and harmonic response analysis were carried out based on Abaqus to solve the first six-order modal shapes of the mechanism and verify that it has the stable operation capability in the industrial environment.