Use following set of commands to add node.js ppa in your Ubuntu system and install it.

$ sudo apt-get install python-software-properties
$ curl -sL https://deb.nodesource.com/setup_6.x | sudo -E bash -
$ sudo apt-get install nodejs

Make sure you have successfully installed node.js and npm on your system

$ node --version
$ npm --version

Now use following command to install grunt and grunt cli using npm command line utility.

$ sudo npm install -g grunt

After successful installation make sure grunt has been installed successful and check version.

$ grunt --version
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