This paper presents the development of a pianoplaying robot in order to provide people a mean of entertainment. The design and development of this research include two parts: the design of a dexterous hand for manipulating a piano and a linear motion control system. The paper first discussed the design of dexterous hand, and a CAD model is created to examine the feasibility of the hand. Then, a motion control solution was determined, a linear railing along with a rack and pinion gear are applied to produce the linear motion. Finally, a flow chart of the control system was presented. Experimental results show the piano robot can play designated notes.