Automatic centering force control end effector and robot grinding system

The invention discloses an automatic centering force control end effector and a robot grinding system. The force control end effector comprises a fixed base, a first moving platform, a second moving platform, a first driving part and a second driving part. The first moving platform is movably matched with the fixed base, and is automatically positioned in the middle position of the fixed base under the action of the first driving part; the second moving platform is movably matched with the first moving platform and is automatically located in the middle of the first moving platform under the action of the second driving component. The force control end effector provided by the invention has the floating capacity in four directions, and is good in flexibility and wide in application range, so that the robot trajectory planning difficulty is reduced, the grinding efficiency is greatly improved, and the system cost is reduced. 本发明公开了一种自动居中的力控末端执行器及机器人打磨系统，所述力控末端执行器包括固定底座、第一移动平台、第二移动平台、第一驱动部件和第二驱动部件。第一移动平台与固定底座活动