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Industrial robot-assisted abrasive cloth wheel (ACW) accurately polish blades is considered to be a challenging task, and it is necessary to realize the digitalization of the process. Due to the flexible contact characteristics of abrasive cloth wheel and the change of blade surface curvature, the amount of microscopic material removal and the topographical errors of the blade surface are not uniform. So the surface roughness value is larger. In this paper, considering the flexible deformation of the blade and the abrasive cloth wheel during polishing contact, the polishing contact model of the blade and the abrasive cloth wheel is established and simulated. Firstly, based on the Preston equation and Hertz contact theory, the material removal profile in the contact area of the blade and the abrasive cloth wheel is analyzed. Secondly, the step length is optimized by considering the deformation of KeywordsBobot-assisted polishing Abrasive cloth wheel (ACW) Slade Flexible contact URBSS curve Trajectory planning Declarations

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