Needle Grinder

A grinding system comprising:

• a grinding surface;
• an end effector including a frame with a plurality of holders and a plurality of workpieces, each holder configured to receive and secure a workpiece, each holder being rotationally coupled to the frame;
• a first actuator operatively coupled to the plurality of holders to drive rotation of the holders with respect to the frame;
• a second actuator operatively coupled to the plurality of holders to linearly translate the holders;
• and
• a coupler configured to couple the end effector to a manipulator, the manipulator configured to rotate, move, and position the end effector with respect to the grinding surface such that the workpieces contact the grinding surface to grind the workpieces in a first position of the end effector, and do not contact the grinding surface in a second position of the end effector,
• wherein a rotation of the first actuator causes each of the plurality of workpieces to simultaneously rotate about each workpiece axis and a linear translation of the second actuator causes each of the plurality of workpieces to simultaneously move along each workpiece axis.