Abstract: An end effector for a robotic device is provided. The end effector is operative to follow the shape of a workpiece, despite variations of the workpiece from a specified configuration. The end effector comprises a connecting arm which is pivotally mounted relative to the robotic device. Spring assemblies urge the connecting arm toward a neutral position relative to the robotic device. A forearm is pivotally connected to the connecting arm and includes followers for following the actual shape of the workpiece. A spring is operative to urge the forearm rotationally toward the workpiece, while a piston and cylinder assembly is operative to selectively rotate the forearm against the forces exerted by the spring. A machining tool may be connected to the forearm to perform a selected machining operation on the workpiece.