Figure 4 describes the nominal dime

Figure 4 describes the nominal dimension of hammers and indicates the geometric tolerance needed to allow the correct assembly of the part. Grade CT10 - UNI EN ISO 8062 is required for dimensional tolerances.

Due to the complex shapes and the high material strength, hammer machining (face milling) is usually
manually performed but working conditions are particularly heavy and safety is not guaranteed because of hot and dangerous sparks, fine metal powders, heavy and bulky tools, repetitive movements, considerable reaction forces and heavy weights which also hamper to achieve a good and constant quality on workpieces.

Robotic machining guarantees labour wellness and cost effective production, thanks to the robot flexibility and small ratio between cost and work volume [2], [5] but the heavy weight of hammers, up to 130Kg, and the high material hardness, represent difficult challenges also for heavy industrial robots. In add, the payload limits require a very careful robot selection.

Today, industrial robot manufacturers produce 6-axes robots capable of performing machining, thanks to their stiff structure and robust components. Also industrial robot payloads are increasing, up to value of 1200kg.