58 X Q Chen,Z M Gong.H Huang.S Z Ge,and L B Zhou has an active servo drive mechanism at one end (left)and a passive follower at the other end (right).The active end is mechanically coupled to the robot end-axis y which has a driving torque about 35 Nem.The servo- driven SAE can rotate 360 degrees so that both concave and convex airfoils can contact the grinding wheel of the belt polishing machine in normal directions. 50 axigroke 240 Figure 1 Yamaha six-axis finishing robot Z-I6. Figure 2 Servo-driven self-aligned end-effector58 X Q Chen, Z M Gong, H Huang, S Z Ge, and L B Zhou has an active servo drive mechanism at one end (left) and a passive follower at the other end (right). The active end is mechanically coupled to the robot end-axis γ which has a driving torque about 35 N•m. The servo￾driven SAE can rotate 360 degrees so that both concave and convex airfoils can contact the grinding wheel of the belt polishing machine in normal directions. Figure 1 Yamaha six-axis finishing robot Z-II6. Figure 2 Servo-driven self-aligned end-effector