复杂形状零件（如涡轮叶片、机翼蒙皮、起落架支柱和成型工具）的手动表面修整是劳动密集型的。表面处理这些零件的直接成本通常在总制造成本的10%到25%之间。通过自动化和机器人研究所取得的技术进步，机器人去除扇贝和轮廓零件上的机床不匹配是可行的。磨削电机主动控制恒力端部执行器的开发带来了一个非常稳健和可控的材料去除过程。

MANUAL SURFACE FINISHING OF COMPLEX SHAPED PARTS SUCH AS TURBINE BLADES, WING SKINS, LANDING GEAR STRUTS, AND FORMING TOOLS IS LABOR-INTENSIVE. THE DIRECT COST OF SURFACE FINISHING THESE PARTS TYPICALLY RANGES FROM 10% TO 25% OF THE TOTAL MANUFACTURING COST. THROUGH TECHNOLOGICAL ADVANCES MADE AT THE AUTOMATION AND ROBOTICS RESEARCH INSTITUTE, ROBOTIC REMOVAL OF SCALLOPS AND MACHINE TOOL MISMATCH ON CONTOURED PARTS IS POSSIBLE AND PRACTICAL. THE DEVELOPMENT OF AN ACTIVELY CONTROLLED CONSTANT FORCE END-EFFECTOR FOR GRINDING MOTORS HAS RESULTED IN A VERY ROBUST AND CONTROLLABLE MATERIAL REMOVAL PROCESS.