Casting Cleaning System.

The Ironman shielded casting cleaning system from telerob allows the operator to carry out cleaning tasks without exposure to physical hazards that would otherwise be unavoidable. The operator sits comfortably in an air-conditioned cabin, from which he controls his grinder attached to the manipulator arm. By moving a master arm located in the cabin, he controls online the direction of movement of the arm as well as the cutting force. Due to the use of powerful tools, the striping rates are far higher than those attainable in the case of manual processing. Thanks to an electronic force reduction, the operator feels the weight of the tool as well as a fraction of the residual forces. At the same time, finely tuned electronic force feedback enables a degree of precision comparable to manual processing. The system works with standard tools that can be quickly changed due to a simple coupling system. The narrow design of the slave arm guarantees an optimum freedom of movement and unrestricted access to the workpiece.--