Processing of the edges of the parts on the robot complex

. In some fields of industry (especially in aircraft- and helicopter buildings) high requirements are made to the quality of the processed parts surfaces on the final operations. At the same time many operations (surface conditioning, edge cutting, radiussing etc) are done manually with expenditure of sufficient manpower. That's why problem of mechanization and automatizaton of such final operations for these industries is very acute.

Dimensions of the processed edge Х, Y and р (Fig. 3) were measured on big instrumental microscope BMI -1C (Russia) with scale gradation of 1 micron.
Research of processing of edges on RC were conducted as per scheme given in Fig.4 with dimension A=45 mm with end brushes BD-ZB Bristle Р50, BD-ZB Bristle Р80 and BD-ZB Bristle Р120.
Efficiency of the processing of edges was evaluated by average size of part edge by axles X and Y that is defines as follows: where X, Y -dimensions of edge as per axles (see Fig. 3).  The extreme dependencies of the edge size from rate of rotation when processing both with V95pchT2 and VT-20 were determined in the process of conducted researches (Fig.5). It was connected with delay of straightening of hairs after touching the edge and as a result of it the next touching occurs with less hairs' deformation and as a consequence with less force of interconnection with the edge. On the basis of these data, it can be considered that rate of rotation more than 4000 rpm is not recommended for use.
Dependency of the edge size from the brush deformation is given on Fig.6. The size of edge increases with increase of cutting force [6].
In case of necessity to achieve the required size of the edge Zk regulation of the processing can be done by using any parameter, for example -feeding S.
Meanings of coefficients a1-10, and absolute term a11 in this equitation are given in Table 2.
It is necessary to mention that end brush can process hard to reach areas of the part in comparison with radial brushes. Processing of such edge is shown in Fig. 11.
Use of other elastic instruments (considered in the research) [1]: besides brushes is possible with RC.
Flap disks: made of grit paper, grit paper with slots, grit paper of V-form, sisal with grit paper, molded fabric, polymeric abrasive bands.

Conclusion
Robotic automation of final processing of parts edges with polymer and abrasive instruments is one of the perspective trends of replacement of manual labour to mechanized and automatic ones. It is proved that processing of edges with robot can be done successfully with end brushes at high velocities (up to 6000 rpm) and high quality of processed surface in spite of decreased rigidity and increased sensibility to oscillatory occurrences if compare with other metalcutting equipment. Hence RC (at corresponding instrument balancing) can be successfully used under industry conditions. At this the received regressive equations of size and