**6. Conclusions**

A mechanism has been designed to be used in robotic deburring to ensure a precision cut and to reduce cutting forces and avoid breaks of the robot/spindle in the case of high and irregular burr profiles. The mechanism is based on a classic slider-crank, which is provided with springs in order to give the desired force-displacement response. In the event that the burr is too high, it exploits its compliance to reduce the cutting forces automatically, and is able to return to the baseline configuration when the burr thickness is acceptable again. After the specification of the desired stiffness curve, the main design parameters of the system have been derived thanks to an optimization method. The effectiveness of the proposed mechanism is verified by means of dynamic simulations using selected test cases. The simulations showed that, when the compliance of the mechanism is exploited to reduce the cutting forces, a second cutting cycle is necessary to completely remove the burr and ensure a high cutting precision. With the dataset considered, the (normal) deburring forces remain always below 150 N thanks to the design of the mechanism, even if the burr height would generate nominal forces much larger. This has been shown both with basic profiles, such as steps, and with more realistic random profiles, thus ensuring cutting without the risk of damaging the cutting tool. A limitation of the present work is the fact that the proposed system needs to be validated experimentally, paying particular attention to the vibrations induced due to the cutting operation, which could make it necessary to improve the design. The experimental validation of the proposed mechanism and the development of a dynamic model that includes the manipulator model will be part of future work.

**Author Contributions:** Conceptualization, M.B., S.C. and M.M.; methodology, M.B., S.C. and M.M.; software, M.B.; formal analysis, M.B.; investigation, M.B., S.C. and M.M.; writing—original draft preparation, M.B. and S.C.; writing—review and editing, S.C. and M.M.; supervision, S.C. and M.M. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research received no external funding.

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.
