Experimental researches on material removal rate and surface roughness of Al2O3 engineering ceramic guide-pulley lapping were carried out using W20 and W5 fixed oilstones by self-developed ultrasonic lapping tool both with and without ultrasonic assistance. Experimental results show that lapping speed, lapping pressure and grain size produce different effects on the lapped surface roughness and material removal rate. The material removal rate in ultrasonic lapping process is two times as large as that in traditional lapping, and the ground surface roughness is superior to that in common machining method. The material removal rate increases along with the average diameter of grains and the lapping speed both in ultrasonic lapping and traditional lapping. In traditional lapping process the material removal rate becomes bigger along with the lapping force, while in ultrasonic lapping it gets the optimal value with the lapping force 450N. The value of lapped surface roughness increases along with the lapping speed in traditional lapping, on the contrary it decreases contrast to the lapping speed until 250rpm in the ultrasonic lapping. The value of traditionally lapped surface roughness decreases contrast to the lapping force, whereas it achieves the minimum with the lapping force 450N with ultrasonic assistance.