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  • Helpful application examples for mechanical engineers.

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  • Online application library with a range of ideas for all manufacturing industries.
  • Save design time and learn new design applications when you are concepting new machines.

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  • MISUMI may not offer all parts in each application design. Available parts can only be purchased separately not as a unit shown in each application design.
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  • The data cannot be used for any purposes (including sales promotion) except for designing your machine.
  • All associated CAD is free. Misumi reserves the right at its sole discretion to cancel, terminate or modify this offer.
  • MISUMI may change, add or delete application examples posted without prior notice.
  • MISUMI assumes no responsibilities for any damage incurred resulting from your use of the Service or any change, addition or deletion by MISUMI of the application examples for any reason whatsoever.

inCAD Library Features

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  2. Over 300 design application ideas
    collected from dozens of industries!

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Keyword Search
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SNS: 

No.000300 Pick and place with rotation

-

Relevant category

Timing Pulleys

Product name High Torque Timing Pulleys - 2GT
Part number GPA40GT2090-A-N10
Features Circular Tooth Profile Pulleys with little backlash, suitable for positioning.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Select the correct pulley shape and size.

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Available sizes

■High Torque Timing Pulleys - 2GT

Material Surface Treatment Accessory
: Set Screw
Pulley Flanged
2000 Series Aluminum Alloy Aluminum Alloy Clear Anodize 304 Stainless Steel

■Sizes and Dimensions

Number of Teeth Belt Width Pulley Shape Shaft Bore Specs.  Shaft Bore Specs. (1 mm Increment)
Straight Bore Straight Bore + Tap New JIS Keywayed Bore + Tap
Hole Dia.
No Hub With Hub No Hub With Hub No Hub With Hub
14 4


6


9
No Hub




With Hub
Straight Bore



Straight Bore
+ Tap



New JIS Keywayed Bore
+ Tap
3 - - - - -
15 3・4
16 3・4
18 4・5
20 4-6
21 4-6
22 4-6 4
24 5-7 5
25 5-7 5-7
26 5-8 5-8
28 5-8 5-8
30 5-8 5-8
32 5-10 5-8 5-10 5・6
34 6-10 6-10 6-10 6-8
36 6-10 6-10 6-10 6-8
38 6-10 6-10 6-10 6-8 8
40 6-12 6-13 6-12 6-10 8・10
44 6-15 6-15 6-13 6-12 8-11
48 8-17 8-16 8-15 8-12 8-13 8
50 8-17 8-16 8-16 8-12 8-14 8
60 8-24 8-24 8-22 8-22 8-19 8-14

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Selection Steps

■Timing pulley selection steps

* Select the timing belt together with the timing pulley.

Automated selection tool is available.

http://fawos.misumi.jp/FA_WEB/pulley_us/

Determination on Operating Conditions
Designed power, rotational speed, rotation ratio, interim shaft distance, motion pattern, etc.

Belt temporary selection
Belt Type / Belt Width

Verification of specifications applicability
  • Confirmation of calculated shaft distance, etc.
  • Confirmation of belt tension and load

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Accuracy Info

■Shaft Bore Dia. of Timing Pulley

Shaft Bore Dia. Tolerance
(H7)
3 +0.010
  0
3-6 +0.012
  0
6-10 +0.015
  0
10-18 +0.018
  0
18-30 +0.021
  0

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Technical calculations

■Timing pulley technical calculations

Timing pulley, belt selection automatic calculation tool

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Flanged Idler with Teeth

Product name Flanged Idlers with Teeth - P2M / P3M / P5M / P8M / 2GT / 3GT / 5GT / 8YU
Part number AGTF40GT2090
Features Can be used as the tension adjuster for timing belts or as the pulley on the driven side.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Select the idler to apply appropriate tension to the transmission belt.

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Available sizes

■Flanged Idlers with Teeth - P2M / P3M / P5M / P8M / 2GT / 3GT / 5GT / 8YU

Type Material Surface Treatment
Center Bearing Both Sides Bearing Main Body Flanged Bearing
2017 Aluminum Alloy 5052 Aluminum Alloy Steel Clear Anodize
- - Hard Clear Anodize
1045 Carbon Steel Low Carbon Steel Black Oxide

■Sizes and Dimensions

Number of Teeth Applicable Belt Shaft Dia. Standard Circle Dia. O.D. Tooth Width
40 GT2060 6 25.46 24.96 30
GT2090 6
30 GT3060 6 28.65 27.89 32
GT3090 6
20 GT5090 8 31.83 30.69 35
GT5120 8
24 GT5090 10 38.20 37.06 42
GT5120 10
28 GT5090 10 44.56 43.42 48
GT5120 10
30 GT5090 12 47.75 46.61 51
GT5120 12
20 YU8150 20 50.93 49.56 62
YU8200 20
30 YU8150 25 76.39 75.02 85
YU8200 25
YU8250 25

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Attachments for Air Grippers

Product name Attachments for Air Grippers
Part number ACHAT6
Features Products used to mount the body, in which the attachment position is the same as the products from other manufacturers. Configurable type (arm length and width selectable) is available.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Standard off-the-shelf product suitable for holding workpiece

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Available sizes

Attachments for Air Grippers

Type Material Surface Treatment Accessory
Dimensions Fixed 1045 Carbon Steel Tuftride Hex Socket Head Cap Screw 2 pcs.
Locating Pin: 1 pc.
Dimension Specifying Electroless Nickel Plating

■Sizes and Dimensions

Nominal Claw Length Inter Claw Dimension during Gripping Gripping Stroke Cross Sectional Dimension of Claw
4 11 8.6 1.7 4×4
6 13 7.4 2.7 5.2×5

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IDEA NOTEMaintaining workpiece orientation

By fixing the timing pulley at the center, the workpiece gripping part rotates with the shaft, and the workpiece can be transported with its direction always downward.
In the figure below, assume that pulley A is fixed and pulley B movable. By rotating the arm, the timing belt winds around fixed pulley A from point P to point P'. At this time, pulley B's position Q rotates in the direction opposite to the arm's rotation direction to position Q'. Therefore, the gripper's direction (arrow) is downward when the arm is at a position rotated by 90°. When the arm's rotation angle is made equal to the gripper's rotation angle, pulley A and B need to have the same number of teeth.

  • 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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  • * 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

  • Pick and place utilizing only one motor and belt system allows workpiece to keep the same orientation throughout the whole cycle.
  • Pick and place unit consists of one motor that is connected to a drive pulley. Through out the cycle, the drive pulley position is stationary. By rotating, the drive pulley moves the belt that moves the driven pulley that is connected to the gripper. A pneumatic gripper is used for holding the workpiece. Since both the drive and the driven pulley have same number of teeth, the rotation angle of the pick&place arm (i.e. driven pulley) matches the rotation angle of the gripper (driven pulley).
  • In this application the pick&place arm rotates 180 degrees and so does the griper holding the workpiece, this allows the workpiece to keep the same orientation at both the pick and the place station.

Points for use

  • This pick and place design uses only one motor.

Target workpiece

  • Plastic case
  • External dimensions: W 15 x D 15 x H 15 mm
  • Weight: 0.01 kg

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: W 215 x D 232 x H 117 (before rotation, cover height) mm

Selection Criteria for Main Components

  • Motor
    • Select a motor that can generate torque necessary to pick&place the rotary arm.
  • Parallel grippers
    • Selected gripper based on holding force, size, shape and type of workpiece.

Design Evaluation

Verification of main components

  • Verify the motor torque and the parallel grippers' gripping force for the load torque and workpiece weight.
  • Motor
      • Conditional values: Lever weight = 1 kg, lever retention part dia. = φ 40mm
      • (Calculation)

    • Load torque: T = 1/2 x D x F Thus, T = 1/2 x 0.04 x 1 x 9.8 = 0.196 N・m ⇒ No problem
  • Parallel grippers
    • Conditional values: Gripping force of parallel grippers = 13 N (for operation pressure 0.4 MPa and gripping point 20 mm, given by the graph in catalogue), safety factor 10, workpiece mass: 0.01 kg
    • Gripping force = workpiece weight x safety factor = 0.01 x 9.8 x 10 = 0.98 N < 13 N
      ⇒ No problem

Other Design Consideration

  • Aiming at saving space by placing parallel grippers on the motor side.

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 Linear Shaft PSFJ12-47-KC10-G10 1
2 Ball Bearing SB6801ZZ 4
3 Metal Washers WSSS16-12-2 2
4 Disc Couplings SCXW34-8-12 1
5 Linear Shaft PSFAN12-25-F10-B8-P6 1
6 High Torque Timing Pulleys GPA40GT2090-A-N10 2
7 Flanged Idler AGTF40GT2090 1
8 Timing Belts GBN4122GT-90 1
9 Collars KNCLSS12-15-15 1
10 Metal Washers WSSS15-12-5 1
11 Air Gripper Parallel Type ACHK6-D 1
12 Attachment For Air Gripper ACHAT6 1
13 Flow Rate Control Valves MNSPS4-M3 2
14 Retaining Rings-External STWN10 2
15 Retaining Rings STWN6 1
16 Dowel Pins MSC3-10 2
17 Dowel Pins MSC4-10 8
18 Parallel Keys KESS3-10 2
19 Parallel Keys KESS4-10 1
20 Hex Socket Set Screws MSSU3-4 3
21 Low Head Cap Screws CBSST6-12 1
22 Socket Head Cap Screws-with Washer SCBS3-8 5
23 Socket Head Cap Screws-with Washer SCBS3-12 2
24 Socket Head Cap Screws-with Washer SCBS4-20 8
25 Socket Head Cap Screws-with Washer SCBS5-20 4
26 Sensors for Air Cylinders MD13L1 2
  • 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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