For polishing large aircraft shaping mold in manual way

there are some problems that can not be settled including low efficiency

poor quality

lack of measuring instrument

bad working condition. To solve these problems

a robot assisted polishing system is proposed which consists of industrial robot

multiple function end effectors

acoustic emission equipment

process planning and simulation software and integrated controlling software. The key technologies including adaptive controlling of polishing force

intelligent process planning and online measurement of roughness are proposed in this paper to realize automatic polishing for large shaping mold with high efficiency and closed loop control of quality.