## 7 Conclusions  
A new five-DOF hybrid robot manipulator and two experimental platforms were developed. For this robot manipulator, a new robotic deburring methodology for robotic deburring tool path planning and robotic deburring process parameter control was presented. The major contributions of this article can be summarized as follows:  
1. The design structure and the physical structure of the robot manipulator for the original experimental platform and the improved one were developed, and the property characterizations of the dexterous manipulation reachability and the superior deburring capability in one setup were demonstrated. The robot manipulator can provide a good solution for the selection of the manufacturing equipment, such as deburring of the complex shaped parts.
2. A robotic deburring tool path planning method was proposed for the robotic deburring tool location (position and orientation) planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method based on fuzzy control for the robotic deburring was proposed, which represents the optimization property, convenience, simplicity, and implementation with automatic-online errors correction. These methods can be extended to handle similar problems for other types of the robot manipulators.
3. A dexterous manipulation experiment was conducted to verify the dexterous manipulation and the orientation reachability of the robot manipulator, especially the dexterous manipulation of a certain processing point. Furthermore, two robotic deburring experiments, i.e., a disc deburring experiment of an automobile hub and a multifaceted edges deburring experiment of an automobile steering booster housing, were conducted on the experimental platforms, and the effectiveness of the two proposed methods was verified, and the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator for multifaceted deburring in one setup was also fully demonstrated.  
In future work, several meaningful attempts need to be carried out, such as offline path correction, compensation for vibrations and/or chattering, backlash of ball screws and robot manipulator structural deformations, suppression for high frequency oscillations, and structural rigidity improvement of the robot manipulator. The two proposed methods are expected to provide some insight into the foundational aspects of robotic deburring tool path planning and robotic deburring process parameter control.  
Figure 37: Deviation results of target planning path and actual tool path of experimental deburring for proximal side facet (polar representation): (**a**) facet edges deburring deviation; (**b**) orifice edges deburring deviation.  
**Author Contributions:** All authors contributed to the research work and have read and approved the final manuscript.  
**Funding:** This research was funded by Natural Science Basic Research Plan in Shaanxi Province of China (No. 2019 JQ-426), Fundamental Research Funds for the Central Universities (No. 300102258107, 300102259308, 300102259401, 300102258402, 300102258305, 300103190365, 300102258205), Shaanxi Science and Technology Co-ordinated Innovation Project (No. 2016 KTZDGY-02-03), Shaanxi International Science and Technology Cooperation Project (No. 2019 KW-015) and Xi'an Science and Technology Project for Talented Personnel Service Enterprise in Colleges and Universities (No. 2017088 CG/RC051(CADX001)).  
**Acknowledgments:** Thanks to [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON] and [PERSON] for their help in the discussion and writing of the paper.  
**Conflicts of Interest:** The authors declare no conflict of interest.