ISO 17874-3:2011

Overview - ISO 17874-3:2011 at a glance

ISO 17874-3:2011 defines the main features and basic principles for electrical master‑slave manipulators used as remote handling devices for radioactive materials in nuclear applications. The standard covers design and operational concepts for systems that reproduce an operator’s hand‑and‑arm movements via isokinematic master and slave arms with bilateral electrical position control (force reflection). It applies to manipulators used inside and outside nuclear buildings (e.g., hot cells, reprocessing plants, accelerators) and explicitly excludes prototypes, experimental or obsolete devices that omit essential features such as force reflection.

Key topics and technical requirements

• System architecture: Typical sub‑assemblies - master arm, slave arm, operating console, control cabinet - and recommended coupling schemes.
• Isokinematic design: Master and slave arms should present matching motion types and relative orientations from base to end effector.
• Bilateral position control / Force reflection: Electrical servo systems must provide low‑latency, back‑drivable control so forces/torques on the slave arm are perceptible at the master handle (with adjustable force ratios). (See clause 6.11)
• Friction, backlash and deflection: Low operator friction and minimized elastic deflection under load are required to preserve dexterity (clauses 6.7–6.8).
• Motions and ranges: Specification of positioning (X/Y/Z), orientation (tilt, twist, swivel), indexing motions and velocity behavior to ensure precise manipulation.
• Load capacity and arm geometry: Requirements for load handling, slave arm lengths, and tongs/jaws design to suit radioactive material handling tasks.
• Protective and transport features: Gaiters (boots) for contamination protection, transporters/rail systems to expand operating volume, and provisions for ground vehicles for outside recovery tasks.
• Operation, testing and selection criteria: Guidance on operating stations, maintenance, acceptance testing and criteria for choosing suitable manipulators (clauses 8–13).

Practical applications

• Remote handling in hot cells, fuel reprocessing, waste treatment, fusion research and accelerator facilities.
• Maintenance, repair, component exchange, interventions, recovery after incidents, and decommissioning of radioactive installations.
• Mobile recovery tasks using manipulators mounted on ground vehicles or transporters for incident response.

Who should use ISO 17874-3:2011

• Designers and manufacturers of electrical master‑slave manipulators
• Nuclear plant engineers and hot‑cell planners
• Maintenance and decommissioning teams
• Regulatory and safety authorities evaluating remote handling equipment
• System integrators adapting manipulators for non‑nuclear high‑hazard environments

Related standards

• ISO 17874-1:2010 - General requirements
• ISO 17874-2:2004 - Mechanical master‑slave manipulators
• ISO 17874-4:2006 - Power manipulators
• ISO 17874-5 - Remote handling tongs

Keywords: ISO 17874-3:2011, electrical master‑slave manipulators, remote handling devices, radioactive materials, force reflection, hot cells, isokinematic, bilateral position control.