School of Mechano‑Electrical Engineering University’an 710071;
Xi’an Institute of Optics and Precision Mechanics of CAS’an 710119;
University of Chinese Academy of Sciences 100049;
Institute of Robotics and Intelligent Systems’an Jiaotong University’an 710049;
Robotic polishing; Fixed-guided compliant beam; Constant-force compliant mechanism; Passive force control;