You can use regex look-around assertions and negated character classes to achieve this.

use strict;
use warnings;

my $rxTitle = qr
   {(?x)                # Use extended syntax
       (?<=-\s)         # If preceded by hyphen & space
       (                # Open capture
           [^(-]+       # One or more non- opening parentheses
                        #   or hyphens
           (?:          # Non-capture group for quantifier
               [^)]+    # One or more non- closing parentheses
               \)       # Followed by a closing parenthesis
           )?           # Quantify, zero or one of
       )                # Close capture
       (?=\s?</title>)  # If followed by optional space and
                        #   closing title tag
   };

while ( <DATA> )
{
    my ( $text ) = m{$rxTitle};
    print qq{$text\n};
}

__END__
<title>GRP -134 - Grinding And Cutting Solution (ACME PR50 - Water Typ
+e) </title>
<title> GRP-123-1 - Grinding And Cutting Solution (Quakeroat 2780 UTC 
+- Synthetic Type)</title>
<title> GRP-124 - Alkaline Rust Remover Solution</title>
<title> GRP-124-1 - Alkaline Rust Remover Solution (Ardvark 185 - Rust
+ Remover)</title>
<title> GRP-124-2 - Alkaline Rust Remover Solution (Ardvark 185L - Rus
+t Remover)</title>
<title> GRP-124-3 - Alkaline Rust Remover Solution (Bee-Dee J84AL - Ru
+st Remover)</title>
<title> GRP-124-4 - Alkaline Rust Remover Solution (Mag HD2-202 - Rust
+ Remover)</title>
<title> GRP-124-5 - Alkaline Rust Remover Solution (Turk 4181L - Rust 
+Remover)</title>
<title> GRP-124-6 - Alkaline Rust Remover Solution (Turk 4181 - Rust R
+emover)</title>
<title> GRP-124-7 - Alkaline Rust Remover Solution (Bee-Dee J84A - Rus
+t Remover)</title>
<title> GRP-124-8 - Alkaline Rust Remover Solution (Cadilac HTP-1150 -
+ Rust Remover)</title>
<title> GRP-124-9 - Alkaline Rust Remover Solution (Cadilac HTP-1150L 
+- Rust Remover)</title>
<title> GRP-124-10 - Alkaline Rust Remover (Titanium Long Soak)</title
+>
[download]

The output.

Grinding And Cutting Solution (ACME PR50 - Water Type)
Grinding And Cutting Solution (Quakeroat 2780 UTC - Synthetic Typ
Alkaline Rust Remover Solution
Alkaline Rust Remover Solution (Ardvark 185 - Rust Remover)
Alkaline Rust Remover Solution (Ardvark 185L - Rust Remover)
Alkaline Rust Remover Solution (Bee-Dee J84AL - Rust Remover)
Alkaline Rust Remover Solution (Mag HD2-202 - Rust Remover)
Alkaline Rust Remover Solution (Turk 4181L - Rust Remover)
Alkaline Rust Remover Solution (Turk 4181 - Rust Remover)
Alkaline Rust Remover Solution (Bee-Dee J84A - Rust Remover)
Alkaline Rust Remover Solution (Cadilac HTP-1150 - Rust Remover)
Alkaline Rust Remover Solution (Cadilac HTP-1150L - Rust Remover)
Alkaline Rust Remover (Titanium Long Soak)
[download]

I hope this is useful.

Cheers,

JohnGG

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