The invention relates to a
compliant mechanism for an
industrial robot polishing end
effector, which comprises an inner shell, positive stiffness characteristic mechanisms,
negative stiffness characteristic mechanisms and an outer shell, the inner shell is of a hollow cylindrical structure and is connected with one ends of the three
negative stiffness characteristic mechanisms and one ends of the three positive stiffness characteristic mechanisms, and the other ends of the three
negative stiffness characteristic mechanisms are connected with the outer shell; the two mechanisms are uniformly distributed in the cylindrical surface of the inner shell, the other ends of the two mechanisms are connected with the outer shell, the inner shell can be sleeved on the bearing to move along with the movement of the bearing, the two mechanisms are driven to move, the outer shell is further driven to move, and the movement of the whole mechanism is realized. The flexible control device acts on the end
effector of the
grinding industrial robot to achieve flexible control, vibration generated in the
grinding process can be restrained, force fluctuation is reduced,
grinding force is controlled within the expected range, meanwhile, force overshoot is avoided, the body health of workers is guaranteed, a workpiece, the end
effector and the grinding environment are prevented from being damaged, and the working efficiency is improved. And the surface quality of the workpiece is improved, and the production efficiency is improved.