Attachment A Statement of Work.pdf

Telemanipulator Specification MHC-DS-SPEC-G01, Rev 0

12/04/2025 i

Modular Hot Cell – Test Article

Telemanipulator Specification

MHC-DS-SPEC-GO1

Oak Ridge National Laboratory (ORNL)

Author: Mario Naranjo, MHC-TA Project Lead

Reviewer: Will Kirkland, MHC-TA Systems Engineer

Reviewer: Andy Souders, MHC-TA Nuclear Mechanical Engineer

ESH&Q: Jason Baert, Quality Representative

Approver: Phil Ferguson, Project Director

TABLE OF CONTENTS

1. Scope

2. Modular Hot Cell -Test Article Requirements

3. General Telemanipulator Requirements

4. Telemanipulator Requirements

5. General Telemanipulator Quality Assurance Requirements

LIST OF FIGURES

Figure 1: Axes of Rotation for In-cell Telemanipulator Arm

Figure 2: Telemanipulator Reach Envelope

LIST OF TABLES

Table 1: Maximum Linear Friction for Telemanipulator

Table 2: Maximum Rotational Friction for Telemanipulator

Table 3: Maximum Rotational Deflection for Telemanipulator

1. SCOPE

This specification contains the technical and procurement requirements for two telemanipulators being purchased for use in the Oak Ridge National Laboratory (ORNL), Modular Hot Cell -Test Article (MHC-TA). Two options, a three (3) piece design and a one (1) piece design, will be evaluated for functionality and cost.

Figure 1: Axes of Rotation for In-cell Telemanipulator Arm

X

Y

Z

Y

Z

X

2. MODULAR HOT CELL -TEST ARTICLE REQUIREMENTS

A. Installation/Removal Dimensions:

1) Cell wall (operator side to workstation side) = minimum of 31.5”

2) Mounting height (operator side floor to thru-tube centerline (CL)) =

120”

3) Operating area height (operator side floor to top of installed telemanipulator)

a) Desired = 138.5”

b) Maximum allowable ≤ 144”

4) Horizontal spacing between each telemanipulator (Center-to-center)

= 32.0”

5) Thru-tube = 10.0” ID

B. Workstation Dimensions:

1) Depth = 71.25”

2) Width = 71.25”

3) Height (workstation side floor to thru-tube CL) = 68.625”

C. Electrical Power Requirements: 120 VAC and 20 A

3. GENERAL TELEMANIPULATOR REQUIREMENTS

A. All telemanipulator submissions shall include at least one (1) electronic copy of the following:

1) All approved, relevant technical drawings

2) All relevant installation, maintenance, and troubleshooting manuals

3) A list of all parts including a separate list of recommended spare parts and recommended installation and repair tools and apparatus

4) A list of lead times for all recommended replacement parts

4. TELEMANIPULATOR REQUIREMENTS

A. All exposed remote end parts of the telemanipulator shall be made from aluminum or stainless steel.

B. Telemanipulator tongs shall be capable of lifting and holding both 10 lb.

dynamic and static loads when fully extended (minimum 90.6”) in any orientation.

C. The thru-tube or thru-wall portion of the telemanipulator shall be 10” OD with maximum un-shielded area of two square inches (2 in2).

D. Operator side telemanipulator handle shall extend approximately 50” vertically below thru-tube centerline when the remote telemanipulator arm is extended approximately 63.6” vertically below thru-tube centerline.

E. Telemanipulators shall include an X, Y, and Z motion lock with a tamper lock option to secure the telemanipulator to a wall, preventing unauthorized use.

1) Motion locks shall be capable of restraining the telemanipulator in any position at the maximum rated load of the telemanipulator.

2) Electrically controlled motion locks are a preferred option.

F. Remote end of telemanipulator shall be capable of being fitted with a boot to prevent contamination and serve as primary/ secondary ventilation system seal.

G. All lubricated bearings and moving/rotating components on the remote side of the telemanipulator shall be lubricated with a radiation resistant lubricant capable of withstanding a minimum dose of 100 mega-rads.

H. Ranges of Motion

1) Shall be capable of indexing in the X, Y, and Z directions.

2) Telemanipulator shall be capable of full horizontal extension for telemanipulator removal.

3) Manual X direction rotation (Roll) shall be at least 30 degrees from vertical, in either direction.

4) Manual Y direction rotation (Pitch) shall be at least 20 degrees from vertical, in either direction.

5) Manual Z direction extension shall be at least 22”.

6) Wrist rotation (Twist) shall be at least 160 degrees.

7) The remote end shall have a minimum X direction rotation range of 30 degrees from vertical, in both directions, at a rate not to exceed 3.5 degrees/ sec. indexing

8) The remote arm shall have a minimum Y direction rotation range of 90 degrees and 22 degrees from vertical away from and towards the operator, respectively, at a rate not to exceed 5 degrees/ sec.

9) The telemanipulator extended length shall be greater than or equal to

90.60” as measured from centerline end of the thru-tube or thru-wall portion of the telemanipulator to the center of the length of the tongs at full extended length (reference Figure 2.)

Figure 2: Telemanipulator Reach Envelope

I. Tongs:

1) The operator side handle shall include a ratcheting feature capable of locking the tong’s grip position. Ratchet engagement shall be selectable by the operator/ user.

2) Removable remote-side wrist joint or tongs (by operator) using rig and/or same workstation paired telemanipulator.

3) 3 sets of tongs shall be provided per telemanipulator (6) total:

a) 3 fabricated from stainless steel

b) 3 fabricated from aluminum

c) 3 fabricated from aluminum with screw in replaceable rubber grips

4) Tong opening shall fully extend to a width of 3.5” and be able to fully close.

5) Tong gripping force shall be capable of exerting a minimum of 30 lb.

J. Telemanipulator shall be capable of being removed as a single or partial unit.

K. The operator arm or operator side of a one-piece design shall have counterbalance weights.

L. If the design is of a 3-piece type:

1) The remote arm and thru-tube portions shall be interchangeable with any other similar model telemanipulator without requiring operator or thru-tube removal.

2) The remote arm shall automatically lock all motion when the operator arm is uncoupled.

3) The operator arm shall be interchangeable with any other similar model telemanipulator.

M. Electrical switches for indexing shall be located on the operator end handle.

N. All electrical components shall be listed by a Nationally Recognized Testing

Laboratory (NRTL).

O. Maximum Friction Requirements

1) Friction during telemanipulator use shall not exceed the values given in Tables 1 and 2 below:

Linear Friction (lb)

Z

2.0

Table 1: Maximum Linear Friction for Telemanipulator

Rotational Friction (lb-in)

Roll Pitch Twist

7.0 5.0 5.0

Table 2: Maximum Rotational Friction for Telemanipulator

P. Rigidity Requirements

1) Deflection and rotations shall not exceed the values given in Table 3 below under a 20 lb. load supported at maximum distance.

Rotational Deflection (Degrees)

Roll Pitch Twist

5.0 5.0 5.0

Table 3: Maximum Rotational Deflection for Telemanipulator

5. GENERAL TELEMANIPULATOR QUALITY ASSURANCE REQUIREMENTS

The Offeror shall have in place an established QA program. The program shall be in general agreement with the applicable elements of NQA-1. An approved copy of the Offeror’s established QA Manual or Plan shall be furnished with the Offer for Company review.

The Seller shall ensure the quality of the equipment by complying fully with all requirements, test, inspections, reports, documentations and approvals contained in this

Specification and the drawings. A copy of any part of the Seller’s Quality Assurance records for the offered product shall be provided to ORNL in electronic pdf format.

ORNL reserves the right to include an on-site or remote audit or review of the manufacturing company quality assurance program as well as on-site inspection and testing of assembly.

The Seller shall permit access of ORNL and US DOE personnel to the Seller’s facilities used for the fabrication and testing of the items covered by this specification, for the purpose of inspection, auditing, witnessing operations, and factory acceptance testing.