Nuclear Non-proliferation Import and Export Control Regulations — B.2.1.6
B.2.1.6 Robots or end-effectors having characteristics set out in paragraphs (a) or (b) and specially designed software or specially designed control units for those devices: (a) specially designed to comply with national safety standards applicable to handling high explosives (for example, meeting electrical code ratings for high explosives); (b) specially designed or rated as radiation hardened to withstand greater than 5 x 10 4 Gy (Silicon) [5 x 10 6 rad (Silicon)] without operational degradation; and (c) control units specially designed for any of the robots or end-effectors specified in paragraph (a). NOTES 1 Robot means a manipulation mechanism, which may be of the continuous path or of the point-to-point variety, may use sensors, and has all of the following characteristics: (a) is multifunctional; (b) is capable of positioning or orienting material, parts, tools, or special devices through variable movements in three-dimensional space; (c) incorporates three or more closed or open loop servo-devices which may include stepping motors; and (d) has user-accessible programmability by means of teach/playback method or by means of an electronic computer which may be a programmable logic controlled, i.e., without mechanical intervention. The above definition does not include the following devices: (a) manipulation mechanisms which are only manually/teleoperator controllable; (b) fixed sequence manipulation mechanisms which are automated moving devices operating according to mechanically fixed programmed motions. The program is mechanically limited by fixed stops, such as pins or cams. The sequence of motions and the selection of paths or angles are not variable or changeable by mechanical, electronic, or electrical means; (c) mechanically controlled variable sequence manipulation mechanisms which are automated moving devices operating according to mechanically fixed programmed motions. The program is mechanically limited by fixed, but adjustable, stops such as pins or cams. The sequence of motions and the selection of paths or angles are variable within the fixed program pattern. Variations or modifications of the program pattern (e.g., changes of pins or exchanges of cams) in one or more motion axes are accomplished only through mechanical operations; (d) non-servo-controlled variable sequence manipulation mechanisms which are automated moving devices, operating according to mechanically fixed programmed motions. The program is variable but the sequence proceeds only by the binary signal from mechanically fixed electrical binary devices or adjustable stops; or (e) stacker cranes defined as Cartesian coordinate manipulator systems manufactured as an integral part of a vertical array of storage bins and designed to access the contents of those bins for storage or retrieval. 2 End-effectors include grippers, active tooling units, and any other tooling that is attached to the baseplate on the end of a robot manipulator arm. 3 The definition in paragraph 1(a) does not include robots specially designed for non-nuclear industrial applications such as automobile paint-spraying booths.