Research on end force control actuator of polishing robot

With the rapid development of the manufacturing industry in recent years, the application of robot technology has become more and more common, and manual labor has been gradually replaced, and robots have extremely low labor intensity, extremely fast production speed and extremely high processing efficiency. When polishing with robotic equipment, the polishing contact force between the polishing tool and the workpiece is a very important factor. If the polishing force is too large, it may cause damage to the workpiece; If the polishing force is too weak, it may not be able to meet the processing requirements, so how to ensure that the contact force remains constant when the robot is polishing has become a key challenge. The research on the end force control actuator of polishing robot is of great significance for improving polishing quality and stability, reducing manual intervention, improving production efficiency and adapting to complex workpiece shapes, and it is a hot research direction in the field of industrial automation. This paper firstly introduces the system composition of the robot end force control actuator. Secondly, the working principle and development of passive flexible end-effectors and active flexible end-effectors are introduced, and their advantages and disadvantages are analysed. Then, in view of the shortcomings of the robot end-force control actuator, some innovative solutions proposed by many researchers are discussed in detail. Finally, some prospects for the future development of end-force control actuators are proposed, which will provide a direction for future research.