Electro Mechanical Manipulator cont'd

DOE-HDBK-6004-99

Related References:

Design Guide, Manipulators, Auxiliary Tools, and Handling Devices, ANS 11.9, February, 1985.

Force Reflecting Hand Controller for Manipulator Teleoperation, Section 1.3 Final Technical

Report NASA Contract # NAS7-1069, Dec. 1991.

Cranes

Design, fabrication, inspection, testing of cranes should be in accordance with the following codes

and standards:

Cranes and Hoists: CMAA #70-1975 - "Specifications for Electric Overhead Traveling Cranes,

and CMAA #74-1974 - "Specifications for Top Running and Under Running Single Girder

Electric Overhead Traveling Cranes and /or ANSI/ASME NOG-1-1989: Overhead and

Gantry Cranes (Top Running Bridge, Multiple Girder), Rules for Construction of,

ANSI/ASME B30.16-1993: Overhead Hoists (Underhung), and

ANSI/ASME NUM-1-1996 Rules for Construction of Cranes, Monorails, and Hoists (with

Bridge or Trolley or Hoist of the Underhung Type)

Seismic Analysis: CMAA #70 Specification for Electric Overhead Traveling Cranes and /or

ANSI/ASME NOG-1-1989: Overhead and Gantry Cranes (Top Running Bridge, Multiple

Girder), Rules for Construction of,

Overhead and Gantry Cranes: ANSI/ASME B30.2-1996: Overhead and Gantry Cranes (Top

Running Bridge, Single or Multiple Girder, Top Running Trolley Hoist)

Hooks:

ANSI/ASME B30.10-1993: Hooks

Electrical: NFPA 70: National Electrical Code 1993 Edition, Art 610

IPCEA S-61-402 and IEEE Standard 835-1994, IEEE Standard Power Cable

Ampacity Tables

NEMA MG 1-1993 Motors and Generators

NEMA ICS 1-1993 Industrial Control and Systems: General Requirement,

NEMA WC 3-1992 Rubber Insulated Wire and Cable for the Transmission and

Distribution of Electrical Energy (ICEA S-19-1981 Sixth Edition)

ANSI C2 ANSI C2-1997 e: National Electrical Safety Code

Fire Protection: ANSI/NFPA 12 Carbon Dioxide Extinguishing Systems ANSI/NFPA 12

NFPA 72: National Fire Alarm Code

Factory Mutual Approval Guide

108