Iso 17874 2 2004

INTERNATIONAL ISO
STANDARD 17874-2
First edition
2004-12-01
Remote-handling devices for radioactive

materials —
Part 2:
Mechanical master-slave manipulators
Dispositifs de manipulation à distance pour matériaux radioactifs —
iTeh STANDARD PREVIEW

Partie 2: Télémanipulateurs maître-esclave mécaniques
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ISO 17874-2:2004
https://standards.iteh.ai/catalog/standards/sist/83f0a4fc-6ac4-45e4-8bef-
20eab853a84c/iso-17874-2-2004
Reference number
ISO 17874-2:2004(E)
© ISO 2004
ISO 17874-2:2004(E)
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ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
© ISO 2004
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ii © ISO 2004 – All rights reserved

ISO 17874-2:2004(E)
Contents Page
Foreword ............................................................................................................................................................ iv
Introduction ........................................................................................................................................................ v
1 Scope...................................................................................................................................................... 1
2 Normative references ........................................................................................................................... 1
3 Terms and definitions........................................................................................................................... 1
4 General architecture and classification.............................................................................................. 3
4.1 General architecture ............................................................................................................................. 3
4.2 Classification ......................................................................................................................................... 4
4.3 Kinematics ............................................................................................................................................. 7
5 Basic considerations for the choice of a manipulator ...................................................................... 9
5.1 General criteria ...................................................................................................................................... 9
5.2 Particular criteria................................................................................................................................. 10
5.3 Mounting of the master-slave manipulators .................................................................................... 12
5.4 Leak-tightness and protection against contamination ................................................................... 13
6 Different manipulator mounting methods and associated requirements ..................................... 15
6.1
Unsealed connection tube, with a gaiter .......................................................................................... 15
6.2 Unsealed connection tube, without gaiter........................................................................................ 21
6.3
(standards.iteh.ai)
Sealed connection tube...................................................................................................................... 21
6.4 Design of the lower end of the gaiters.............................................................................................. 22
6.5 ISO 17874-2:2004
Special case of double gaiters .......................................................................................................... 25
6.6 https://standards.iteh.ai/catalog/standards/sist/83f0a4fc-6ac4-45e4-8bef-
Replacement of manipulator gaiters................................................................................................. 26
6.7 20eab853a84c/iso-17874-2-2004
Attachment of leak-tight manipulator gaiters .................................................................................. 29
7 Accessories ......................................................................................................................................... 29
7.1 Connection tubes with shielding....................................................................................................... 29
7.2 Balancing ............................................................................................................................................. 29
7.3 Terminations........................................................................................................................................ 30
7.4 Electricity supply ................................................................................................................................ 31
7.5 Various ................................................................................................................................................. 31
Annex A (normative) Method of measurement of no-load forces and torques, flexures and
backlashes ........................................................................................................................................... 33
Annex B (informative) Typical disconnection stations................................................................................. 45
Bibliography ..................................................................................................................................................... 48
© ISO 2004 – All rights reserved iii

ISO 17874-2:2004(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies
(ISO member bodies). The work of preparing International Standards is normally carried out through ISO
technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the
International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. ISO shall not be held responsible for identifying any or all such patent rights.
ISO 17874-2 was prepared by Technical Committee ISO/TC 85, Nuclear energy, Subcommittee SC 2,
Radiation protection.
ISO 17874 consists of the following parts, under the general title Remote-handling devices for radioactive
materials: (standards.iteh.ai)
— Part 1: General requirements
ISO 17874-2:2004
— Part 2: Mechanical master-slave manipulators
20eab853a84c/iso-17874-2-2004
— Part 3: Electrical master-slave manipulators
— Part 4: Power manipulators
— Part 5: Remote-handling tongs
iv © ISO 2004 – All rights reserved

ISO 17874-2:2004(E)
Introduction
This part of ISO 17874 deals with mechanical master-slave manipulators used for nuclear applications.
These devices replace the hands and arms of the operators in areas inaccessible to personnel (mostly behind
shielding walls).
Mechanical master-slave manipulators were originally developed for hot cells, which were designed for
research and development for nuclear power reactor-fuel elements. They are now also in use in other nuclear
installations, such as fabrication or reprocessing plants for fuel elements, waste-treatment stations and
decommissioning of nuclear facilities.
This part of ISO 17874 should be of assistance to designers of nuclear plants, as well as to manufacturers,
users and license authorities.

(standards.iteh.ai)
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
© ISO 2004 – All rights reserved v

(standards.iteh.ai)
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
INTERNATIONAL STANDARD ISO 17874-2:2004(E)
Remote-handling devices for radioactive materials —

Part 2:
Mechanical master-slave manipulators
1 Scope
This part of ISO 17874 specifies the criteria for the selection, installation and use of a mechanical
master-slave manipulator, for remote handling of radiaoactive materials in a nuclear facility.
This part of ISO 17874 deals only with the technical aspects related to the manipulator and its interface with
the nuclear facility in which it is intended to be installed.
In particular, the process apparatus and the manipulator features need to be studied in parallel in order to
optimize all the functionalities of the manipulator.

However, this part of ISO 17874 does not cover the fundamental design criteria of the nuclear facility (e.g. the
process involved, maintenance of the process equipment, intervention for other purposes).
(standards.iteh.ai)
2 Normative references ISO 17874-2:2004
The following referenced documents 20eab853a84c/iso-17874-2-2004
are indispensable for the application of this document. For dated
references, only the edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.
ISO 11933-1:1997, Components for containment enclosures — Part 1: Glove/bag ports, bungs for glove/bag
ports, enclosure rings and interchangeable units
ISO 11933-2:1997, Components for containment enclosures — Part 2: Gloves, welded bags, gaiters for
remote-handling tongs and for manipulators
ISO 10648-2:1994, Containment enclosures — Part 2: Classification according to leak tightness and
associated checking methods
ISO 17874-1:2004, Remote-handling devices for radioactive materials — Part 1: General requirements
3 Terms and definitions

For the purposes of this document, the following terms and definitions apply.
3.1
mechanical master-slave manipulator
manipulator reproducing the effects of the hand and arm movements of the operator by means of mechanical
transmission elements, installed in a shielding or a containment wall
© ISO 2004 – All rights reserved 1

ISO 17874-2:2004(E)
3.2
arm
effectively reproduces the functions of a human arm, respecting in most cases the same distribution and
corresponding articulations
NOTE 1 The corresponding articulations are shoulder, upper arm, elbow, forearm, wrist joint, etc.
NOTE 2 The motions of a manipulator master arm and its associated slave arm are generally parallel.
3.3
master arm
arm located outside a hot cell and equipped with a handle on which the operator acts
3.4
slave arm
arm located inside a hot cell and equipped with tongs to grip the work-piece
3.5
axis
directions of a Cartesian coordinate system defined from the operator's standing point, considered as the
origin of this system
NOTE The following axes are considered: Axis X: from right to left along the shielding wall; Axis Y: forward into the
shielded cell; Axis Z: up towards the ceiling of the shielded cell.
3.6
balancing iTeh STANDARD PREVIEW
characteristic allowing the manipulator to be maintained with negligible forces applied by the operator in stable
(standards.iteh.ai)
positions throughout the whole operating volume by mechanical means (e.g. counterweights)
3.7 ISO 17874-2:2004

connection tube https://standards.iteh.ai/catalog/standards/sist/83f0a4fc-6ac4-45e4-8bef-
component mounted inside the through-wall 20eab853a84c/iso-17874-2-2004
tube, which transmits the motions of the master arm to the slave
arm by rotation and by internal mechanical elements
NOTE The connection tube can be withdrawn into the operating room.
3.8
disconnection
mechanical operation allowing the separation of two assembled elements, such as the disconnection of a
slave arm or a master arm from the connection tube
3.9
extended reach (Z-motion)
a motorized mechanical extension of the slave arm, by a double telescope, serving to adjust the working
length and hence to extend the reach across the working volume
3.10
gaiter of a manipulator
booting US
specially profiled flexible sleeve designed to protect the mechanical parts of the slave arms of a manipulator
from contamination or to provide continuity of the leak-tightness of a hot cell
3.11
handle
component fixed at the end of the master arm and gripped by the operator, facilitating the control of the
movement of the manipulator
2 © ISO 2004 – All rights reserved

ISO 17874-2:2004(E)
3.12
indexing motions (X- and Y-motion)
an adjustable mechanical or electrical displacement between the slave arm position and the corresponding
master-arm position, to enlarge the working volume and minimize operator strain
3.13
jaws
components fixed on the end of the tongs which facilitate the handling of an object
NOTE The jaws can be disconnectable.
3.14
joint
articulation
assembly of several pieces allowing one or more rotational motions
3.15
operating volume
space in which the operation of a tong is possible, considering all the positions in which the different
components of the slave arm of a manipulator can be moved
3.16
operator side removal
operation consisting of extracting a part or the whole of a manipulator from the operator side of the hot cell
3.17
orientation motion
rotation motions around certain axes of the manipulator
(standards.iteh.ai)
NOTE 1 According to the axis considered, the three following motions are distinguished: tilt (α), twist (β) and swivel or
azimuth motion (γ). ISO 17874-2:2004
NOTE 2 In articulated manipulators, the orientation motion can be accomplished around the forearm axis or around the
20eab853a84c/iso-17874-2-2004
arm axis.
3.18
tong
gripping device fixed at the slave-arm end of the manipulator and consisting of an actuator assembly and jaws
3.19
through-wall tube
cylindrical piece mounted in the wall of a hot cell and allowing the passage of the mechanical linking elements
between the different parts of a manipulator from the outside to the inside of the hot cell
NOTE The through-wall tube contains the connection tube.
3.20
positioning motion
motion effecting a displacement of the tongs (or end-effector)
NOTE According to the axis considered, three different motions are distinguished: X, Y and Z.
4 General architecture and classification
4.1 General architecture
A mechanical master-slave manipulator is a fixed assembly mounted on a shielded enclosure wall. It

comprises three main components, a master arm, a slave arm and a connection tube equipped with
mechanical elements ensuring the connection between the master arm and the slave arm.

ISO 17874-2:2004(E)
The connection tube is generally installed horizontally through the enclosure wall. It shall be constructed in
such a manner that the motions, forces, and torques, executed by the hand of the operator on the handle of
the master arm, are transmitted respectively to the slave arm and the tongs.
The manipulator shall ensure force reflection from the slave arm to the master arm. The transmission
elements shall be reversible in motion and communicate forces and torques reversibly, in all positions.
Depending on the final use (mounting on βγ hot cells or α-βγ hot cells), the connection tube can be unsealed
or sealed. In addition, the slave arm can be equipped with a gaiter, the aim of which is to realize the protection
or the leak-tightness of the manipulator slave arm. The jaws of the tongs or the complete tongs assembly can
be exchanged by remote control.
The master arm and slave arm are arranged to have identical kinematics. Additional components are provided
on the master arm, in particular, counter-weights balancing the arms of the master-slave manipulators and,
where necessary, lockable brakes and/or the control elements for motorized relative motions or off-sets
between the slave arm and the master arm (i.e. indexing).
4.2 Classification
4.2.1 Introduction
As defined in ISO 17874-1, mechanical master-slave manipulators are classified into two categories
(see Figure 1):
 mechanical master-slave manipulator with telescopic arms;

 mechanical master-slave manipulator(standards.iteh.ai)
with articulated arms.
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
Figure 1 — Classification of mechanical master-slave manipulators

ISO 17874-2:2004(E)
4.2.2 Mechanical master-slave manipulators with telescopic arms
Depending on the type, this kind of mechanical master-slave manipulator (see Figure 2) permits the
transmission of forces up to the maximum magnitude that an operator would employ in unaided manual
activity. They are suitable for complicated tasks, and are usually installed in pairs on a working station.
Manipulators with telescopic arms are designed for hot cells of all sizes with shielding walls made mainly of
concrete or even of lead. They constitute the main working devices in such types of cells, which are generally
of large dimensions.
A version with short arms is available, if higher forces must be executed than are possible with mechanical
master-slave manipulators with articulated arms.
There are also compact manipulators with a double telescope in the slave arm, available for hot cells with a
restricted height.

(standards.iteh.ai)
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
Key
1 tong with parallel jaws 8 through-wall tube
2 slave arm 9 shielding window
3 connection tube 10 microphone
4 counter-weights 11 sound-transmission cable
5 master arm 12 loudspeaker
6 handle 13 hot cell
7 shielding wall 14 operating room
Figure 2 — Mechanical master-slave manipulator with telescopic arms

ISO 17874-2:2004(E)
4.2.3 Mechanical master-slave manipulators with articulated arms
This kind of mechanical master-slave manipulator (see Figure 3) permits the transmission of forces up to a
medium level such as an operator could easily employ repeatedly in unaided manual activity. They are
suitable for complicated tasks, and are usually installed in pairs on a working station. They are designed for
hot cells of all sizes, with shielding walls typically of lead, or even steel.
They are also often used in containment enclosures with thick concrete shielding walls. They have
small dimensions and therefore provide a relatively small working volume. They are used instead of
remote-handling tongs, if a larger working volume is available or/and more dexterity is needed.

(standards.iteh.ai)
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
Key
1 tong with parallel jaws 8 through-wall tube
2 slave arm 9 shielding window
3 connection tube 10 upper arm
4 counter-weights 11 forearm
5 master arm 12 overhang
6 handle 13 hot cell
7 shielding wall 14 operating room
Figure 3 — Mechanical master-slave manipulator with articulated arms

ISO 17874-2:2004(E)
4.3 Kinematics
4.3.1 General
The manipulator shall have seven motions, three positioning motions (see Figure 4), three orientation motions
(see Figure 5) and one gripping motion, according to the definitions given in ISO 17874-1.

(standards.iteh.ai)
ISO 17874-2:2004
Figure 4 —https://standards.iteh.ai/catalog/standards/sist/83f0a4fc-6ac4-45e4-8bef-
Positioning motions Figure 5 — Orientation and gripping
20eab853a84c/iso-17874-2-2004
4.3.2 Manipulators with telescopic arms
For manipulators with telescopic arms, for which the motion along the Z axis is performed by translation of the
tubes (see Figure 6).

ISO 17874-2:2004(E)

(standards.iteh.ai)
Key ISO 17874-2:2004
1 right-left motion (around the Y axis) 7 tongs rotation (around the Y axis) (twist motion)
20eab853a84c/iso-17874-2-2004
2 forward-backward motion (around the X axis) 8 shoulder
3 arm rotation (around the Z axis) (swivel or azimuth motion) 9 telescopic arm
4 up-down motion (along the Z axis) 10 wrist joint
5 gripping motion 11 handle (master side)/tongs (slave side)
6 wrist rotation (around the X axis) (tilt motion)
Figure 6 — Mechanical master-slave manipulator with telescopic arms
This kind of manipulator shall be equipped with an electrical indexing of the Y-motion (forward-backward) and
X-motion (right-left). It may also include an electrical extension of the Z-motion (up and down), consisting of a
double telescopic arm. The latter is called extended reach.
The indexing allows the range of action of the slave arm to be increased, while keeping the master arm in a
good ergonomic position.
Mechanical master-slave manipulators with telescopic arms are differentiated in the following way.
 Manipulators without disconnectable arms. In this case, the functional links between the master arm and
the slave arm are directly realized by cables or tapes.
 Manipulators with disconnectable arms. In this case, the links by cables or tapes are interrupted at the
level of the connection tube, where the motion transmissions are performed by rotating shafts and gears.
This solution consequently allows the disconnection of the slave arm. In many cases, the disconnection of the
master arm is also possible.

ISO 17874-2:2004(E)
4.3.3 Manipulators with articulated arms
For manipulators with articulated arms, the motion along the Z axis is performed by a combination of two
rotations around the shoulder axis and the elbow axis (see Figure 7).
This kind of manipulator can be equipped with electrical or mechanical indexing of the upper arm.

(standards.iteh.ai)
ISO 17874-2:2004
20eab853a84c/iso-17874-2-2004
Key
1 right-left motion (around the Y axis) 8 shoulder
2 forward-backward motion (around the X axis) 9 upper arm
3 arm rotation (around the Z axis) (swivel or azimuth motion) 10 elbow
4 up-down motion (along the Z axis) 11 forearm
5 gripping motion 12 wrist joint
6 wrist rotation (around the X axis) (tilt motion) 13 handle (master side)/tongs (slave side)
7 tongs rotation (around the Y axis) (twist motion)
Figure 7 — Mechanical master-slave manipulator with articulated arms
5 Basic considerations for the choice of a manipulator
5.1 General criteria
The design constraints of the manipulator determine the field of use offered by the two categories of
manipulators.

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INTERNATIONAL ISO

Remote-handling devices for radioactive

iTeh STANDARD PREVIEW

iTeh STANDARD PREVIEW

ii © ISO 2004 – All rights reserved

© ISO 2004 – All rights reserved iii

— Part 4: Power manipulators

— Part 5: Remote-handling tongs

iv © ISO 2004 – All rights reserved

iTeh STANDARD PREVIEW

© ISO 2004 – All rights reserved v

Remote-handling devices for radioactive materials —

iTeh STANDARD PREVIEW

3 Terms and definitions

© ISO 2004 – All rights reserved 1

3.7 ISO 17874-2:2004

2 © ISO 2004 – All rights reserved

NOTE The jaws can be disconnectable.

NOTE The through-wall tube contains the connection tube.

4 General architecture and classification

4.1 General architecture

A mechanical master-slave manipulator is a fixed assembly mounted on a shielded enclosure wall. It

© ISO 2004 – All rights reserved 3

 mechanical master-slave manipulator with telescopic arms;

Figure 1 — Classification of mechanical master-slave manipulators

4 © ISO 2004 – All rights reserved

4.2.2 Mechanical master-slave manipulators with telescopic arms

iTeh STANDARD PREVIEW

Figure 2 — Mechanical master-slave manipulator with telescopic arms

© ISO 2004 – All rights reserved 5

4.2.3 Mechanical master-slave manipulators with articulated arms

iTeh STANDARD PREVIEW

Figure 3 — Mechanical master-slave manipulator with articulated arms

6 © ISO 2004 – All rights reserved

iTeh STANDARD PREVIEW

4.3.2 Manipulators with telescopic arms

© ISO 2004 – All rights reserved 7

iTeh STANDARD PREVIEW

Figure 6 — Mechanical master-slave manipulator with telescopic arms

8 © ISO 2004 – All rights reserved

4.3.3 Manipulators with articulated arms

iTeh STANDARD PREVIEW

Figure 7 — Mechanical master-slave manipulator with articulated arms

5 Basic considerations for the choice of a manipulator

5.1 General criteria

© ISO 2004 – All rights reserved 9

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