[samolina]

Hello RoboDK Members,

I have been working on a curve follow project using a UR5e to sandblast a rectangular (rounded corners) shaped component but the movement takes longer on the radius corners than on the straight paths leading to non-uniform finish and failed parts. When analyzing the generated code there are many linear movements generated at the rounded corners. I try to speed up the operation speed but I still have a speed difference between the straight and rounded paths. The path is 2D imported from SolidWorks using the RoboDK plugin. When I try to use arcs as the output I receive an error on the blending radius being too small. I’ve tried breaking the program up into separate curve follow projects but the robots interpolation between curve follow projects is non-uniform and leads to strange movements. 

Help or advice would be greatly appreciated, thank you!

[Albert]

With UR robot controllers it may be better to generate programs with linear movements and a permissive rounding radius (blending), instead of using circular movements.

Do you have a sample project you can share and more information about the result?

[samolina]

Hello Albert,

Thank you for the reply - I do have the project but since it is contains sensitive production and customer information I’d have to send it to you through a secure, private link, is this okay with you?

A little more information about the part; the part requires a sand blasted along a machined groove (rectangular with round corners) and not on the rest of the part. We fixture the part into a “mask” which is essentially a stencil to expose only the groove to the sand blasting and not the main faces. The bridges connect the inner and outer mask faces which keep the part together. To fully blast the part I need to cover the flat groove and the inner and outer walls of the groove. To achieve this I perform 3 passes, 1 nominal, 1 at 10 deg, and -10 deg. The Cobot speed is great on the nominal pass but moves slow at the angled moves along the radius where I use the “tool orientation follows path”. If I could just speed this section up it would lead to passing parts.

Thank you!

[Albert]

It is better if you contact us by email and mention this thread. We can try to help you better:
https://robodk.com/contact

[samolina]

Good morning Albert,

I just submitted the request.

Thank you!