Robot force control ultrasonic polishing and grinding end effector

The invention relates to the technical field of ultrasonic grinding, in particular to a robot force control ultrasonic polishing and grinding end effector which comprises a swing mechanism and a linear feeding mechanism, the swing mechanism comprises a pneumatic motor and is used for providing rotation power, the output end of the pneumatic motor is provided with a main shaft matched with rotation, and the linear feeding mechanism is arranged at the middle end of the main shaft; a decoupling mechanism is arranged at the bottom end of the main shaft, and the main shaft enables the grinding head to rotate through the decoupling mechanism. The linear feeding mechanism comprises a voice coil motor, and the voice coil motor is used for providing linear power and is matched with an optical axis arranged on the edge and a motor thrust plate to enable the grinding head to linearly move through a decoupling mechanism. The device is compact in structure, convenient to use and capable of conducting linear feeding and ro