Core Viewpoint - The article discusses the development of a novel electromagnetic variable stiffness actuator (EMVSA) designed to address the technical challenges in precision grinding and polishing of aerospace components, focusing on the actuator's ability to decouple force and stiffness control, thereby improving processing accuracy and surface quality [2][5][50]. Group 1: Technical Challenges and Innovations - The precision grinding of aerospace components faces significant challenges due to the limitations of traditional rigid and flexible end-effectors, which struggle with contact force fluctuations leading to overcutting or undercutting [1]. - The introduction of variable stiffness actuators (VSA) is highlighted as a potential solution, particularly those based on electromagnetic principles, which offer rapid response and compact structure [1][2]. - Existing electromagnetic actuators face three main limitations: significant nonlinearity in electromagnetic springs, force-stiffness coupling effects, and complex optimization of electromagnetic parameters [1][4]. Group 2: EMVSA Development and Features - The research team from Huazhong University of Science and Technology has developed the EMVSA, which features a dual-module architecture consisting of a Lorentz motor (LM) for force control and an electromagnetic variable stiffness spring (EVSS) for stiffness adjustment [2][6]. - The EMVSA achieves a linear stiffness adjustment within a ±15mm range, effectively decoupling force and stiffness control, which addresses the challenges posed by environmental variations during robotic grinding [2][5]. Group 3: Performance Validation - Experimental results demonstrate that the EMVSA significantly improves control precision, with a 60.49% increase in force control accuracy and a 74.76% enhancement in material removal precision compared to traditional elastic actuators [5][46]. - The EMVSA's average grinding force error was recorded at 0.03324N, with a maximum absolute error of 0.2738N, showcasing its superior performance in precision applications [5][46]. Group 4: Control System and Optimization - The control system for the EMVSA integrates force control and stiffness adjustment, utilizing a nonlinear PI control method to enhance robustness against noise while maintaining rapid response [29][31]. - The team developed an adaptive stiffness estimation method that effectively mitigates noise interference, significantly improving the accuracy of stiffness estimation [32][34]. Group 5: Practical Applications and Future Implications - The EMVSA prototype has been tested in a robotic grinding platform, demonstrating its effectiveness in processing thin-walled variable stiffness components, thus providing an innovative solution for precision robotic machining [43][50]. - The research findings have been published in a leading robotics journal, indicating the potential for further advancements and applications in the field of robotic precision machining [5][50].