---
publication_id: "OT-2026-000001172"
title: "Robot end effector for surface treatment of soft materials and method for controlling robot having the same"
published_at: "2026-09-15T19:03:58.208847Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001172"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1633"
  - "b25j9/1633"
  - "a43d11/00"
  - "a43d11/00"
  - "a43d11/00"
  - "b25j9/16"
---

# Robot end effector for surface treatment of soft materials and method for controlling robot having the same

## Abstract

The present disclosure relates to a robot end effector for treating a surface of soft materials, and the end effector may include a coupler coupled to a tool flange of the robot; a motor coupled to the coupler to have a rotation axis orthogonal to a rotation axis of the tool flange; and a work tool connected to the motor to rotate according to the rotation of the motor, wherein the motor has a gear ratio lower than that of the motor provided in the robot.