In this paper, a deburring tool with 3-axis compliance is presented for deburring using a robot manipulator. Compliance is provided with beam structures instead of pneumatic pressure, which enables integrated 3-axis force sensing and variable stiffness. Two radial compliances were achieved using 4-PSS (Prismatic-Spherical-Spherical) legs, with P joints composed of cantilever beams. The one axial compliance was configured with two ball bushings and a linear spring. Strain gauges were attached to cantilever beams and a load cell was mounted between the linear spring and the universal joint to perform force sensing. The stability of vibrations and force sensing were verified through deburring experiments using the proposed deburring tool. Additionally, experiments on automatic offset for applying a constant force during deburring were conducted and results were validated by comparing the workpiece before and after the deburring process.

When a workpiece contains complex burr edges from a combination of drilling and milling, conventional deburring tools such as wire brushes may not be effective in their removal. In this study, abrasive flow machining was used to gain access to complex burr edges. Experiments on two types of flow guides suggest that an abrupt change in direction of flow around the area with targeted burr edges is essential. The effects of several process parameters are investigated based on the experiments set up.

Intersecting holes deep inside a workpiece, are difficult to deburr because of poor accessibility. When holes are small and the intersecting angle (acute angle between hole axes) is less than 45°, difficulty is at its extreme. In this study, abrasive flow machining is used for a hole diameter of 3mm and intersecting angles of 30° and 45°. Tests were performed for AL6061 specimens, with process parameters allocated to L8(2⁷) orthogonal array. Degree of deburring is strongly dependent on intersecting angle, abrasive grit size, and total volume of flow. Successful deburring was achieved for 30° intersecting angle.