1. Introduction
In this project, the robot is programmed to grind and smooth the surface along the arc of Jig 1307. Both 2D and 3D drawings of the jig have been used as the basis for defining the grinding trajectory.
2. Input Data
- Number of sample points: 13.
- Divided into: 6 curves (Curve1 → Curve6).
- Sampling method: The TCP (Tool Center Point) of the grinding tool is brought into contact with the 13 arc points. Each point is then offset along the Z-axis by +4 mm for reference.
The coordinates of all 13 points have been recorded in the World coordinate system (X, Y, Z, A, B, C).
3. Grinding Setup
- Offset Z: programmed with 11 offsets, adjustable in software.
- Tool inclination: 10° relative to the horizontal plane.
- Coordinate system: World (X, Y, Z, A, B, C).
4. Trajectory Programming
The robot is programmed to follow each curve sequentially. After completing one curve, the robot repeats the curve with stepwise reduction of the Z offset.
- Curve1: 11 layers, Z offset = 4.0 mm.
- Curve2: 11 layers, Z offset = 2.0 mm.
- Curve3: 11 layers, Z offset = 2.25 mm.
- Curve4: 7 layers, Z offset = 1.25 mm.
- Curve5: 5 layers, Z offset = 0.5 mm.
- Curve6: 6 layers, Z offset = 0.75 mm.
The offset values are illustrated in the attached diagrams (Offset Curve1 → Curve6).
5. Expected Results
- The ground surface becomes flat and uniform, precisely matching the arc profile of 1307.
- Layer distribution per curve ensures both smoothness and accuracy.
- Robot executes repeatable trajectories with controlled Z offsets.
Conclusion:
The programming procedure for Jig 1307 with 13 points and 6 offset curves has been completed. All offset parameters and number of layers are configured in detail per curve, ensuring precision and high-quality surface finishing.