Drilling apparatus and method

An apparatus for countersinking a hole formed in a curved aircraft panel, the apparatus comprising:

• a drilling apparatus comprising a first member comprising a pressure foot and a cutting tool coupled to a first robot, the pressure foot being for contacting with a surface of the aircraft panel during a countersinking process, the pressure foot comprising a passage through which the cutting tool is to be passed during the countersinking process;
• a second member coupled to a second robot;
• one or more processors comprising:
• a first digital model, the first digital model being a model of the aircraft panel including a model of the hole;
• a second digital model, the second digital model being a model of at least part of the pressure foot including a model of the passage;
• wherein the one or more processors are configured to:
• arrange the first model and the second model such that a curved surface of the first model is in contact with a front surface of the second model, and such that an axis of the model of the hole is aligned with an axis of the model of the passage;
• using said arrangement of the first model and the second model, determine a first distance, the first distance being a distance between an opening of the model of the passage at the front surface of the second model and an opening of the model of the hole at the curved surface of the first model, the distance being in a direction substantially parallel to the aligned axes;
• and
• determine a second distance, the second distance being a sum of:
• a distance between a tip of the cutting tool and the front surface of the pressure foot, the determined first distance, and a predetermined depth to which the hole is to be countersunk;
• and
• a controller configured to control the drilling apparatus to perform the countersinking process including moving the pressure foot such that a front surface of the pressure foot is in contact with a curved surface of the aircraft panel, and such that an axis of the hole is aligned with an axis of the passage, and moving the cutting tool through the passage so as to countersink the hole, wherein a distance through which the cutting tool is moved is equal to the determined second distance;
• wherein the apparatus is arranged to press the members against opposite sides of the curved aircraft panel to be drilled so as to hold the curved aircraft panel and prevent deflection of at least a portion of the curved aircraft panel the drilling being from the side of the curved aircraft panel pressed against by the first member.