**5. Automatic Process**

Polishing and deburring is a process with great automation possibilities, through the use of robots [13]. Force feedback control is the key aspect to be considered. The definition of a robotic cell for the application of the process is based on accessibility. The flexible brushes being applied to holes in different aeroengine components and cases being produced with Inconel 718, Hastelloy or other nickel alloys are a good task for these robots. Deburring and edge finishing will be always a step in the process chain. The idea proposed is to work in high-automation mode, in the following stages:


The proposed system for the automation process consists of a unique superfinished cell capable of working in two different work modes, in particular with a tool on a robot or with a piece on a robot. In the first of the work modes (MOD1), the idea was to work on pieces of large dimensions (Ø 2400 mm, height 1500 mm, weight 2500 kg) mounted on a rotating table and working with tools mounted on the robot, which is able to access the outer and inner areas of the type pieces. The materials to be worked in this case will be heat-resistant alloys with mechanical characteristics equal to or higher than Inconel 718, Titanium 6-4, Jethete type stainless steel or similar. The operations to be carried out will be diverse, highlighting operations of deburring, edge killing and polishing of localized areas and holes, as well as measurement and control operations. In a second mode of work (MOD2), we will work with tools mounted in fixed posts, with the piece positioned mounted on the manipulator robot. In this case, the pieces to be treated will be units or sets coming from castings or other types of components with the maximum dimensions of approximately 1000 × 1000 × 1000 mm and maximum weights of up to 120 kg. The materials will have characteristics similar to those indicated for the MOD1 work mode and the operations to be carried out include cutting and sanding processes as well as other operations such as those already mentioned for deburring, polishing and measuring and control. Figure 8 shows the system used to apply the approach.

**Figure 8.** Robotic deburring: robot arm, structured-blue light devices, detail of holes with burrs.
