Manual, Robotic Deburring Tool, RCV‑490 Series
Document #9610‑50‑1032‑06
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com
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Another programming method is to teach the path using the centerline of the bur as a guide, following the
edge of the part, and then manually or automatically adding offsets to the robot path points to achieve the
). The programming method used depends on the robot’s capabilities and
programmer preferences.
Figure 4.2—Pointed Teaching Tool
Interior corners represent a complex situation for compliant deburring tools. In general, the bur must
not be allowed to simultaneously contact both perpendicular surfaces of an interior corner. The resulting
force imbalance in two planes causes severe tool chatter. The customer is advised to create a tool path
that prevents the bur from simultaneously contacting two perpendicular surfaces. A tapered bur may reach
further into an interior corner if the tool is presented in an inclined orientation and closer to the tip of the
tool (Note: When working near the tip of a tapered bur the surface cutting speed is reduced).
When deburring interior radii, moderate to severe tool chatter may occur (similar to example given in
previous paragraph). Do not attempt to deburr an inside radius less than 1.5 times the diameter of the desired
bur (Rmin = 1.5 x Bur diameter).
When running the robot program the first time, observe the path with the radial compliance air supply
turned down to approximately 0.35 Bar (5 psi). When the robot path speed is increased, it is important
to notice the robot may deviate from the programmed path. Verify that the bur is deflected but continues
to contact the work surface at operational robot path speed. Once the robot path has been confirmed, the
compliance force of the bur should be adjusted, as described in
a correct depth of cut).
