The invention discloses an active compliance end 
effector for controllable-
pitch propeller robotgrinding and a control method. The active compliance end 
effector comprises a 
grinding tool, a BT30 knife 
handle, a 
grinding electric spindle, brackets for fixing the 
grinding electric spindle, a 
force sensor for detecting a normal grinding force, a support for mounting the 
force sensor, a displacement sensor for detecting deviation of an end position, a support for fixing the displacement sensor, a 
ball screw for providing axial movement degree of freedom and transmitting torque, a bearing block for supporting and fixing the 
ball screw, a 
ball screw nut, a ball screw nut support, an alternating-current 
servo motor, a 
flange support, a coupler, linear guide tracks, sliders, a bottom supporting plate and a 
control system, wherein the 
servo motor is connected with the ball screw through the 
flange support and the coupler; and the 
control system is used for driving the 
servo motor. The active compliance end 
effector has the advantages of simple structure, convenience in 
assembly, high control precision and high response speed; and meanwhile, the grinding tool can be changed automatically.