Master slave manipulators (MSMs)

DOE-STD-6003-96

The cranes should be provided with all components and appurtenances required for safe

operation and handling, in accordance with the Occupational Safety and Health Administration

(OSHA) Regulations Section 1910.179 and ANSI B30.2, ANSI B30.1, B30.16 Safety Codes as

applicable.

q. Master slave manipulators (MSMs)

Design, fabrication, inspection, and testing of MSMs should be in conformance with

applicable requirements of the following codes and standards:

Hooks

ANSI 30.1

Hydraulic Power

JIC-H-1

Hoists

Auxiliary hoists should be designed and manufactured to comply with the Hoist Manufac-

turers Institute Specification HMI 100 for Electric Wire Rope Hoists.

s. Remote connector systems

Remote connector systems (sometimes referred to as "Hanford" type) can be used in the

process piping as mechanical jumpers. This type of jumper system allows remote assembly and

disassembly of mechanical components such as pumps, valves, and pressure vessels. These

mechanical jumpers and/or connectors can be remotely operated. The design, fabrication,

inspection, and testing of these connector/jumpers and associated equipment should be per

manufacturer standards.

The electrical type connector systems must protect the connecting pins or sockets from

damage during the coupling operations. The entire assembly must meet the electrical classifica-

tion requirements of the particular service.

Robots

Standards and Codes recommended for robot design, fabrication, and safety require-

ments include the following:

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