An ultrasonic trimming apparatus, comprising: an articulated robot; an ultrasonic oscillator which is supported by an end arm of the articulated robot; a cutter blade which has a flat plate shape and is supported by the ultrasonic oscillator; a workpiece securing portion which secures a workpiece; an additional arm which controls the cutter blade such that the cutter blade is always directed in a cutting direction is rotatably connected to the end arm, a motor is connected to the additional arm so as to rotationally move the additional arm; and the cutter blade being driven by the arm while the cutter blade is ultrasonically vibrated to cut the workpiece secured by the workpiece securing portion; characterized by further comprising: a grinding member which is stationary and disposed within a movable range of the cutter blade driven by the articulated robot and is capable of being brought into pressure contact with the cutter blade, wherein the articulated robot has a control apparatus to move the cutter blade held attached to the articulated robot to the position at where the cutting edge is brought into contact with the grinding member, to maintain the cutter blade's attitude such that a plane containing the cutting edge thereof contacts the grinding member, and to ultrasonically vibrate the cutter blade in the state in which the grinding member is brought in contact with the cutter blade, and the ultrasonic oscillator and the cutter blade are disposed so as to vibrate in the direction of the rotation axis of the additional arm. an articulated robot; an ultrasonic oscillator which is supported by an end arm of the articulated robot; a cutter blade which has a flat plate shape and is supported by the ultrasonic oscillator; a workpiece securing portion which secures a workpiece; an additional arm which controls the cutter blade such that the cutter blade is always directed in a cutting direction is rotatably connected to the end arm, a motor is connected to the additional arm so as to rotationally move the additional arm; and the cutter blade being driven by the arm while the cutter blade is ultrasonically vibrated to cut the workpiece secured by the workpiece securing portion; characterized by further comprising: a grinding member which is stationary and disposed within a movable range of the cutter blade driven by the articulated robot and is capable of being brought into pressure contact with the cutter blade, wherein the articulated robot has a control apparatus to move the cutter blade held attached to the articulated robot to the position at where the cutting edge is brought into contact with the grinding member, to maintain the cutter blade's attitude such that a plane containing the cutting edge thereof contacts the grinding member, and to ultrasonically vibrate the cutter blade in the state in which the grinding member is brought in contact with the cutter blade, and the ultrasonic oscillator and the cutter blade are disposed so as to vibrate in the direction of the rotation axis of the additional arm. a grinding member which is stationary and disposed within a movable range of the cutter blade driven by the articulated robot and is capable of being brought into pressure contact with the cutter blade, wherein the articulated robot has a control apparatus to move the cutter blade held attached to the articulated robot to the position at where the cutting edge is brought into contact with the grinding member, to maintain the cutter blade's attitude such that a plane containing the cutting edge thereof contacts the grinding member, and to ultrasonically vibrate the cutter blade in the state in which the grinding member is brought in contact with the cutter blade, and the ultrasonic oscillator and the cutter blade are disposed so as to vibrate in the direction of the rotation axis of the additional arm.