Abrasive articles and systems

Abstract

Abrasive articles include a circular center member having an outer edge, a radial line, and a radial plane, a plurality of bristles extending outward from the outer edge of the circular center member and having a projection on the radial plane of the center member, the bristles comprise a plurality of abrasive particles, at least a portion of the bristles orient with the projection at a slant angle relative to the corresponding radial line. The abrasive article can have a first direction of use and a second direction of use opposite to the first direction of use, and the abrading performance achieved by the first and the second directions of use is different from each other. Robotic abrading systems can include such abrasive articles for advantageous operations. Methods of making and using such abrasive articles are also disclosed.

1 - 52 . (canceled) 
     
     
         53 . A method of abrading a workpiece with a robotic abrading system, comprising:
 driving an abrasive article with a tool, wherein the abrasive article comprises a circular center member having an outer edge and a radial line; a plurality of bristles extending outward from the outer edge of the circular center member and having a projection on the radial plane of the center member, wherein the bristles comprise a plurality of abrasive particles; wherein at least a portion of the bristles orient with the projection at a slant angle relative to the corresponding radial line, wherein the slant angle is in the range of 5 degrees to 60 degrees;   contacting the driven abrasive article to the workpiece and positioning the abrasive article at an interference depth between the plurality of bristles and the workpiece;   controlling and monitoring a force applied by the abrasive article to the workpiece using a force control;   wherein the force applied is proportional to the interference depth over a range of interference depths from 1.0 mm to 7.6 mm.   
     
     
         54 . The method of  claim 53 , wherein when the interference depth is kept constant, the applied force is constant throughout the life of the abrasive article. 
     
     
         55 . The method of  claim 54 , wherein the applied force is predetermined. 
     
     
         56 . The method of  claim 53 , wherein the increase in force applied is linear over the range of interference depths from 1.0 mm to 7.6 mm. 
     
     
         57 . The method of  claim 53 , wherein the slant angle is in the range of 20 degrees to 45 degrees.