A pipe end machining device configured to machine an end of a pipe includes an outer housing having a spindle rotatably mounted therein, tool carriers are mounted on the spindle, a hub assembly attached to the outer housing, a vertical adjustment assembly attached to the hub assembly and to the outer housing, and a drive assembly configured to rotate the spindle and tool carriers. The vertical adjustment assembly adjusts the upward and downward position of the cutting tools relative to the pipe. The hub assembly mounts the device to the pipe and fixes the relative upward or downward position of the cutting tools relative to the pipe, thereby preventing vibration and chatter when the device is cutting a planar surface on the end of the pipe.

Drilling apparatus and method, the apparatus comprising: a first robot (10); a first member (30) (e.g. a pressure foot) and a drilling tool (38) both coupled to the first robot (10); a second robot (12); and a second member (52) coupled to the second robot (12); wherein the apparatus is arranged to press the members (30, 52) against opposite sides of a part to be drilled (2, 100) (e.g. an aircraft panel) so as to hold the part (2, 100) and prevent deflection of at least a portion of the part (2, 100); and the first member (30) and the drilling tool (38) are arranged such that the drilling tool (38) may drill into the portion of the part (2, 100) of which deflection is opposed from the side of the part (2, 100) pressed against by the first member (30). The robots (10, 12) may be robotic arms.