The invention provides an X-ray imaging robot which comprises a fixed platform used for fixing an X-ray imaging robot body, a movable platform, a parallel mechanism, a serial mechanism, a supporting frame, a C-shaped rail, an X-ray source and an image detector. The movable platform has one translational moving freedom degree and two rotational freedom degrees, the parallel mechanism is arranged between the fixed platform and the movable platform and is composed of a plurality of branched chains in a parallel connection mode, the serial mechanism comprises a plurality of supporting arms, the movable platform and the supporting arms are in series connection through revolute pairs in sequence, the supporting frame is connected to the end, far away from the movable platform, in the serial mechanism through a revolute pair, the C-shaped rail and the supporting frame are connected though a sliding pair in circular arc tracks, and the X-ray source and the image detector are arranged on the inner wall of the C-shaped rail and are arranged oppositely. The X-ray imaging robot can effectively carries out imaging in different directions in a three-dimensional space, and has the advantages of being large in moving space, and high in precision and rigidity. The invention further provides a mechanical arm of the X-ray imaging robot.