ISO 17874-2:2004

Overview

ISO 17874-2:2004 specifies technical criteria for the selection, installation and use of mechanical master‑slave manipulators used for remote handling of radioactive materials in nuclear facilities. It focuses on the manipulator and its interface with the facility (through-wall tubes, connection tubes, gaiters and mounting) and does not cover the fundamental design of the nuclear process or facility maintenance. The standard supports safe, repeatable remote‑handling operations in hot cells, reprocessing, fuel‑fabrication, waste‑treatment and decommissioning applications.

Key topics and technical requirements

The document addresses practical, technical aspects of mechanical master‑slave manipulators, including:

• General architecture and classification

  • Three main components: master arm, slave arm and connection tube
  • Classification into telescopic and articulated manipulators with matched kinematics

• Kinematics and force transmission

  • Reversible mechanical transmission that provides force reflection from slave to master
  • Matching master and slave motions for accurate positioning and orientation

• Selection and installation criteria

  • Criteria for choosing manipulator type, reach (X/Y/Z), load capacity and balancing
  • Integration with through‑wall tubes and shielding windows

• Mounting and leak‑tightness

  • Mounting methods: sealed and unsealed connection tubes, gaiter (flexible sleeve) designs
  • Protection against contamination, gaiter replacement and attachment methods

• Operational features and accessories

  • Indexing motions, extended reach (double telescope), tongs/jaws interchangeability
  • Accessories: shielding connection tubes, balancing systems, power/electric supply considerations

• Testing and measurement (Annexes)

  • Annex A: measurement methods for no‑load forces, torques, flexures and backlashes
  • Annex B: examples of disconnection stations

Applications and users

ISO 17874-2 is intended for practical deployment and regulatory oversight of remote‑handling systems in nuclear environments. Typical users include:

• Nuclear facility designers and hot‑cell engineers specifying remote‑handling capabilities
• Manufacturers of mechanical master‑slave manipulators and remote‑handling equipment
• Operations and maintenance teams using manipulators for handling radioactive materials
• Regulatory and licensing authorities assessing remote‑handling interfaces and safety

Practical applications: hot cells for fuel R&D, fuel fabrication and reprocessing plants, waste treatment, decommissioning tasks and any shielded containment requiring dexterous remote manipulation.

Related standards

Key related documents to consult:

• ISO 17874-1:2004 - Remote‑handling devices for radioactive materials - Part 1: General requirements
• ISO 17874-3/4/5 - Other parts addressing electrical manipulators, power manipulators and tongs
• ISO 11933-1/2 and ISO 10648-2 - Components for containment enclosures, gloves/gaiters and leak‑tightness classification

Keywords: ISO 17874-2, mechanical master‑slave manipulators, remote‑handling devices, hot cells, radioactive materials, connection tube, gaiter, through‑wall tube.