ISO INTERNATIONAL STANDARD 17874-3 First edition 2011-11-01 Remote handling devices for radioactive materials Part 3: Electrical master-slave manipulators Dispositifs de manipulation a distance pourmateriauxradioactifs- Partie3:Télémanipulateursmaitre-esclaveélectriques Reference number ISO 17874-3:2011(E) @ISO2011 ISO 17874-3:2011(E) COPYRIGHTPROTECTEDDOCUMENT ISO2011 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from either IsO at the address below or ISO's member body in the country of the requester. ISO copyright office Case postale56.CH-1211Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail [email protected] Web www.iso.org Published in Switzerland ii @ ISO 2011 All rights reserved ISO17874-3:2011(E) Contents Page Foreword Introductior 1 Scope 2 Normative references 3 Terms and definitions 4 Field of application. 5 General features 6 Requirements... 6.1 General aspects. 6.2 Motions.. 6.3 Load capacity... 6.4 Length of the slave arms. 6.5 Forces,torquesandlengths 6.6 Designfeatures. 6.7 Friction..... 15 6.8 Deflection under load. 6.9 Velocities..... 16 6.10 Dimensionsoftongswithparallel jaws (standardtongs) 17 6.11 Electrical servo-system. 18 7 Optional features 23 8 Operation.. 24 8.1 Masterarm 24 8.2 Operating station 26 6 Slaveunitsandtransporters .28 10 Special tongs and tools 30 11 Criteria for selection. 32 12 Testing.. .32 13 Non-radioactivetrial cells.. .32 AnnexA(informative)Features of prototypes and experimental devices not coveredby this part 33 Annex B (informative) Television systems .35 Bibliography... 38 @ ISO 2011 All rights reserved ili ISO 17874-3:2011(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 International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/lEC 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. ISO17874-3 was prepared by Technical Committee ISO/TC 85,Nuclear energy,nuclear technologies, and radiological protection, Subcommittee Sc 2,Radiological protection. Iso 17874 consists of the following parts, under the general title Remote handling devices for radioactive materials: Part1:Generalrequirements Part 2:Mechanicalmaster-slavemanipulators Part3:Electricalmaster-slavemanipulators Part4:Powermanipulators —Part5:Remotehandlingtongs iv ISO 2011 - All rights reserved ISO 17874-3:2011(E) Introduction This part of IsO 17874 deals with electrical master-slave manipulators used for nuclear applications. These inaccessible to personnel (typically behind shielding walls). such as reprocessing, accelerator plants and decommissioning of redundant nuclear facilities. A different field radioactivesourcesorcontaminatedobjectsfromincidentsandaccidents Electrical master-slave manipulators can be modified or specially designed for non-nuclear applications. This part of isO 17874 does not address the special requirements of such fields, although designers might be able and cost-effectivedesignsforotherapplications,whereappropriate and their equipment, a