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No.000235 Pneumatic Gripper Mechanism

A mechanical hand designed to grip a cylindrical workpiece.

Cam Followers

Product name Cam Followers - Flat Type - No Seal
Part number CFFR8-19
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Use a general type of cam follower for transmitting motion with a lever.

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Available sizes

■Cam Followers - Flat Type - No Seal

Usage Main Body Nut
Material Seal Material Surface Treatment
Not Provided Provided
General 52100 Bearing Steel 1045 Carbon Steel Black Oxide
440C Stainless Steel 304 Stainless Steel -
Low Dust Generation -

■Sizes and Dimensions

Stud Dia. Thread Dia. x Pitch Outer Ring Dia. Outer Ring Width Overall Length
φ5 M5×0.8 φ13 9 23
φ6 M6×1.0 φ16 11 28
φ8 M8x1.25 φ19 11 32
φ10 M10x1.25 φ22 12 36
φ26

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Accuracy Info

■Accuracy of Cam Followers

Stud Dia. Stud Dia. Tolerance
(h7)
Outer Ring Width Tolerance
φ5  0
-0.012
 0
-0.12
φ6
φ8  0
-0.015
φ10

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Performance info.

Cam Follower Load Rating and Rotational Speed

Stud Dia.
- Outer Ring Dia.
Basic Dynamic
Load Rating
C(kN)
Basic Static
Load Rating Cor
Cor(kN)
Max.
Allowable Load
(kN)
Track Load
Capacity
(kN)
Max. Rotational Speed (rpm)
With Seal No Seal
φ3−φ10 1.47 1.18 0.36 1.37 32900 47000
φ4−φ12 2.06 2.05 0.78 1.76 25900 37000
φ5−φ13 3.14 2.77 1.42 2.25 20300 29000
φ6−φ16 3.59 3.58 2.11 3.43 17500 25000
φ8−φ19 4.17 4.65 4.73 4.02 14000 20000
φ10−φ22 5.33 6.78 5.81 4.7 11900 17000
φ10−φ26 5.49
φ12−φ30 7.87 9.79 9.37 7.06 9800 14000
φ12−φ32 7.45
φ16−φ35 12 18.3 17.3 11.2 7000 10000
φ18−φ40 14.7 25.2 26.1 14.4 5950 8500
φ20−φ52 20.7 34.8 32.1 23.2 4900 7000

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Linear Bushings

Product name Linear Bushings - Single Type
Part number LMUW20
Features The most standard type in linear ball bushing products.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

In order to retain linear operation of chuck, select the most popular linear bushings.

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Available sizes

■Linear Bushings - Single Type

Outer Cylinder Ball Retainer
Material Hardness Surface Treatment Material Material
52100 Bearing Steel 58HRC~ 52100 Bearing Steel Plastic (Duracon M90 Equivalent)
Stainless Steel (SUS)
Low Temp. Black Chrome Plating 440C Stainless Steel Plastic (Duracon M90 Equivalent)
Electroless Nickel Plating
Stainless Steel (SUS)
440C Stainless Steel 56HRC~ Plastic (Duracon M90 Equivalent)
Stainless Steel (SUS)

■Sizes and Dimensions

I.D. (mm) Length (mm)
3 19
4 23
5 28
6 35
8 45
10 55
12 57
13 61
16 70
20 80
25 112
30 123
35 135
40 151
50 192

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Selection steps

■Linear bushing selection steps

Determine conditions of use
(Loads, Motion pattern, Life hours)

Temporarily select the specifications of linear bushings
(Shaft dia. and length are temporarily selected according to the conditions of use.)

Basic safety check
  • ●Basic Static Load Rating
  • ●Basic Dynamic Load Rating
  • ●Allowable Static Moment
  • Operating Life

Considerations Based on Required Performance
●Life Variations Due to Temperature Changes

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Accuracy Info

■Accuracy Information of Linear Bushing

I.D.
(mm)
Tolerance
3  0
-0.010
4
5
6
8
10
12
13
16
20  0
-0.012
25
30
35  0
-0.015
40
50

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Performance info.

■Speeds / Loads (Load Info.) of Linear Bushings

I.D.
(mm)
Basic Load Rating
Basic Dynamic Load Rating (N) Basic Static Load Rating (N)
3 138 210
4 176 254
5 263 412
6 324 529
8 431 784
10 588 1100
12 657 1200
13 813 1570
16 1230 2350
20 1400 2740
25 1560 3140
30 2490 5490
35 2650 6270
40 3430 8040
50 6080 15900

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Technical Calculations

■Life of Linear Bushing
When the linear system is loaded in linear reciprocating motion, scaly damages called flaking appear due to material fatigue as the repeated stress is applied on the rolling elements and the rolling contact surfaces constantly. Total travel distance until the first flaking occurs is called the life of linear system.
Rated life can be calculated with the basic dynamic load rating and the actual load applied on the linear bushings, as shown below.
  • L: Rated Life (Km)
  • fH: Hardness Factor (See Fig.1)
  • fT: Temperature Factor (See Fig.2)
  • fC: Contact Factor (See Table-3)
  • fW: Load Factor (See Table-4)
  • C: Basic Dynamic Load Rating (N)
  • P: Applied Load (N)
Hardness factor (fH)

Fig. 1. Hardness Factor

For liner system applications, sufficient hardness is required for ball contact shafts. Inappropriate hardness causes less allowable load, resulting in shorter life.

Temperature factor (fT)

Fig. 2. Temperature Factor

When the temperature of linear system exceeds 100°C, the hardness of the system and shafts will be reduced and the allowable loads will also be reduced compared to being used at room temperature, resulting in a shorter life.

Contact factor (fC)

More than two linear systems are used for one shaft in general. In this case, the load applied to each linear system varies depending on machining precision and is not uniformly distributed. As a result, allowable load per linear system changes depending on the number of linear systems used on one shaft.

Table-3. Contact Factor

Number of Bearings Installed on One Shaft Contact factor fC
1 1
2 0.81
3 0.72
4 0.66
5 0.61
Load Factor (fW)

To calculate load applied to the linear system, in addition to object weight, it requires inertia force attributed to motion velocity or moment loads. Further, it is necessary to accurately determine the temporal change of each. However, it is difficult to calculation the load accurately due to potential vibrations and shocks caused by other element than repeated start-stop motions during reciprocating motion. Therefore, use the table below in order to simplify the life calculations.

Table-2. Load Factor

Conditions of Use fw
No shocks vibrations,
low speed: 15m/min. or less
1.0~1.5
No significant shocks vibrations,
medium speed: 60m/min. or less
1.5~2.0
With shocks vibrations,
high speed: 60m/min. or more
2.0~3.5
Life in hours can be obtained by calculating the travel distance per hour. When the stroke length and the number of strokes are constant, it can be calculated using the formula below.
  • Lh: Life (Hr.)
  • L: Rated Life (km)
  • Ls: Stroke length (m)
  • n1: Number of cycles per minute (cpm)

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Oil Free Bushing

Product name Oil Free Bushings - Multi - Layer LF
Part number MDZF25-25
Features Has a Thin wall and is compact.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Select oil free bushing for oscillation fulcrum of lever where lubrication or maintenance is difficult.

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Available sizes

■Oil Free Bushings - Multi - Layer LF

Material
Ethylene Tetrafluoride Resin Layer with Filler Material
Sintered Bronze Layer
Steel-backed Metal Layer (SPCC: Tin Plating)Steel-backed Metal Layer (SPCC: Tin Plating)

■Sizes and Dimensions

I.D.(mm) Length(mm)
3 4 5 6 8 10 12 15 20 25 30 35 40 50 60
3 - - - - - - - - - - -
4 - - - - - - - - - -
5 - - - - - - - - - -
6 - - - - - - - -
8 - - - - - - - - -
10 - - - - - - - - -
12 - - - - - - - - -
13 - - - - - - - - - -
15 - - - - - - - - -
16 - - - - - - - - - -
18 - - - - - - - - -
20 - - - - - - - - -
22 - - - - - - - - -
25 - - - - - - - -
30 - - - - - - -
35 - - - - - - - - -
40 - - - - - - -
50 - - - - - - - -

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Accuracy Info

■Accuracy of oil free bushing

I.D.
(mm)
I.D. Tolerance
(mm)
3 +0.047
+0.017
4
5 +0.055
+0.025
6
8
10 +0.060
+0.030
12
13
15 +0.060
+0.030
16 +0.065
+0.035
18 +0.070
+0.035
20 +0.080
+0.045
22
25 +0.085
+0.050
30 +0.090
+0.050
35 +0.095
+0.055
40
50 +0.105
+0.065

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Performance info.

■Allowable properties of oil free bushing (Reference values)

Regular Non-lubricated
Maximum Allowable Load 29N/mm²
Maximum Allowable Velocity 1.00m/s 0.5m/s
Maximum Allowable PV Value 3.25N/mm²・m/s 1.65N/mm²・m/s

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IDEA NOTE Pneumatically-driven mechanical hand

Vertical movement is converted into horizontal movement by a link and a cam follower.

  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

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    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or edited.
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  • * Unit assembly Data consists of some sub-assemblies.
       It is configured so that each sub-assembly unit can be used as it is or edited.

Application Overview

Purpose

  • Mechanical hand for gripping a cylindrical workpiece.
  • The mechanism is useful for reaching in and out of a box.
  • A set of link and cam follower converts vertical movement into horizontal movement.

Target workpiece

  • Roller
  • Outer dimensions: φ30 x L150mm
  • Workpiece weight: 0.8kg
  • Material: metal product (SUS, 1018 Carbon Steel, etc.)

Design Specifications

Operating Conditions or Design Requirements

  • Claw open/close stroke: 70mm
  • Outer dimensions:
    W170 x D218 x H343mm

Required Performance

  • Assumed clamping force: 250N or higher

Selection Criteria for Main Components

  • Cylinder
    • A claw that can clamp workpieces is selected.
  • Linear bushing
    • As the moment load is not large, linear bushings appropriate for the claw part size are selected.

Design Evaluation

Verification of main components

  • The cylinder thrust is verified to see whether it satisfies the required clamping force.
  • Cylinder
    • Conditional value: workpiece weight F1 = 8N, part pushed and pulled by cylinder F2 = 6N, friction coefficient between workpiece and claw μ1 = 0.1, friction coefficient of linear bushing μ2 = 0.1, link ratio A = 0.6, distance between linear bushing and workpiece: 58mm (= 0.058m).
    • From required clamping force: P = {(F1/μ1) + (F2/μ2)} x (1/A), P = (8/0.1 + 6/0.1) x (1/0.6) = 234N.
    • From cylinder thrust: F = load factor x operating pressure x tube inner diameter sectional area, F = 0.5 x 0.4MPa x π/4 x 80mm x 80mm = 1005N, hence, 1005N > 234N = P.
    • Moment calculation (M) M = cylinder thrust x distance between linear bushing and workpiece = 1005 x 0.058 = 58.29N·m.

Other Design Consideration

  • Vertical movement is converted into horizontal movement by the link, and the thrust and stroke length can be adjusted by changing the link ratio.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample Picture MISUMI Part Number
For Price and Days to ship click on Part No.
Quantity
1 Cam Followers CFFR8-19 2
2 Linear Bushings LMUW20 2
3 Oil Free Bushings MDZF25-25 2
4 Linear Shaft PSSFGW20-150-M8-N8 2
5 Flow Rate Control Valves SPJNLS8-3-B 2
6 Low Head Cap Screws CBSST8-10 2
7 Terminal Box Currently not available 1
8 Socket Head Cap Screws-with Washer SCBS8-25 2
9 Socket Head Cap Screws-with Washer SCBS8-20 2
10 Socket Head Cap Screws-with Washer SCBS6-20 8
11 Socket Head Cap Screws-with Washer SCBS4-20 6
12 Socket Head Cap Screws-with Washer SCBS4-10 4
13 Retaining Rings STWS32 4
  • The part list above only contains MISUMI parts.
    Part list download (CSV) includes MISUMI and third party components used in this example.
  • For price and shipping date see the Web Order System.
  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Download (Unit Assembly)

    CAD Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when you find interesting design tips.


    This data is utilized in order to list more useful application examples in the future.

    CAD Data Limitations

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or edited.
    3. * The part in the frame is a sub-assembly unit.

    4. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    5. The dimensions of the MISUMI parts in the Data, which can be specifed at 1mm intervals, can be edited under historical data.
    6. The Data including the third-part components are made by the Company.

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