Robot polishing and grinding force control end effector

The invention discloses a robot polishing and grinding force control end effector. The robot polishing and grinding force control end effector comprises a rotation part, a linear motion part and a grinding head part. A pneumatic motor is adopted as a power source for the effector, and the total mass of the effector is effectively reduced. Usage of a coupler is avoided, accordingly, the complexityof the mechanism is reduced, and the structure is more compact. The rotation movement of the pneumatic motor is transmitted to a ball spline through a main shaft, and the ball spline transmits the rotation movement to the grinding head part. Since the ball spline has the functions of torque transmission and untight connection, mechanical decoupling of the two freedom degrees of a grinding head isachieved at the position of the ball spline. Compared with the current situation that connection of an effector and a macro robot system is conducted at the top end of the effector, by means of the robot polishing and grinding