Abstract: The present invention concerns a grinding apparatus (1) for processing a workpiece (20), including a support arrangement (4) for a number of grinding heads (6) that each includes a grinding element (2) and a grinding motor (3) driving an associated grinding element (2), where the support arrangement (4) includes an endless conveyor means (9) for the grinding heads (6), the conveyor means (9) being driven in an annular path with at least one long side perpendicular to an underlying conveyor, by at least one moving motor (5) for establishing an epicyclic movement of the grinding elements (2) across the work piece (20) during operation.