Single point incremental forming (SPIF) represents a flexible manufacturing process capable of producing complex sheet metal parts without the need for dedicated forming dies. However, achieving high dimensional accuracy remains a major challenge due to phenomena such as elastic springback and localized deformation. In this context, the present study investigates the influence of tool-axis orientation on the dimensional accuracy of parts manufactured through robot-based single point incremental sheet forming (RB-SPIF). The experimental analysis considered two toolpath strategies (contour and spiral), two vertical step sizes (0.5 mm and 1 mm), and two tool-axis configurations (fixed tool-axis and wall-normal tool-axis orientation), resulting in eight experimental cases. The dimensional accuracy of the manufactured parts was evaluated using optical 3D scanning and cross-sectional profile analysis. The results show that the vertical step size has a significant influence on the resulting geometry, with smaller step sizes generating profiles closer to the nominal geometry. The toolpath strategy also affects the geometry, with spiral trajectories generally producing slightly improved profiles compared to contour strategies; however, this effect was not found to be statistically significant under the investigated conditions. Furthermore, the use of a wall-normal tool-axis configuration improves the agreement between the measured and nominal profiles by enhancing the contact conditions between the tool and the metal sheet surface. These findings indicate that adaptive tool-axis orientation represents a promising strategy for improving the dimensional accuracy of parts produced by robot-based incremental sheet forming systems.