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inCAD Library

Please read before use

What is inCAD Library?

  • Helpful application examples for mechanical engineers.

The Concept of inCAD Library

  • 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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inCAD Library Features

  1. Get great new design ideas for these application examples.

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

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No.000177 Reverse Gripper
Good IDEA!
76

Gripper that can reverse and rotate.

Relevant category

Cable Carriers

Cable Carriers
Product name Cable Carriers -Slit-
Part number SE08F-30-028-14
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes

Selection criteria

Organizes cables and protects them against wear and tear on moving objects.

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Available sizes

■Cable Carriers - Slit (Type 08F)

Type Material
Outer Radius Mount Special Plastic
(Operating Temperature: -30 - 100℃)
Equivalent to Flammability Standard UL94-V2
Inner Radius Mount

■Sizes and Overall Dimensions

Bending Radius Number of Links Mounting height (Required Space Height) (Arc + Allowance) Link Pitch
28 1〜37 76 91 130 20
38 1〜38 96 111 160
48 1〜40 116 131 190

■Sizes and Link Cross Section Dimensions

Inner height Overall Height Inner width Overall Width Number of Comb Teeth
14.6 19.3 16 24.2 2
20 28.2 2
30 38.2 3
40 48.2 4
50 58.2 5

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Bearings with Housings

Bearings with Housings
Product name Bearings with Housings - Direct Mount, Standard with Pilot, Retained
Part number SBGCR6901ZZ
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Bearing and housing sold as a set.

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Available sizes

■Bearings with Housings, Pilot, Retained

Flange Shape Material Surface Treatment Material of the Included
Retaining Ring
Bearing Holder Holder
Round
・
Square
・
Compact 		Steel 1045 Carbon Steel Black Oxide Spring Steel
Electroless Nickel Plating 304 Stainless Steel
2017 Aluminum Alloy Clear Anodize
Stainless Steel
304 Stainless Steel −

■Sizes and Dimensions

Seal Bearing Shaft Bore
Dia. 		Bearing
O.D. 		Bearing
Width 		Flange
External Dimensions 		Compact Flange
Wrench Flats 		Overall
Thickness		 Flange
Thickness 		Pilot Part
Length 		Pilot Dia.
Non-contact Rubber Seal
・
Contact Rubber Seal
623 φ3 φ10 4 33 16 9 7 2 φ14
624 φ4 φ13 5 35 18 10 8 φ17
605 φ5 φ14 5 36 20 10 8 φ18
625 φ16 5 38 22 10 8 φ20
606 φ6 φ17 6 39 23 11 9 φ21
626 φ19 6 41 25 11 9 φ24
698 φ8 φ19 6 41 25 11 9 φ24
608 φ22 7 45 29 12 10 φ27
628 φ24 8 47 32 13 11 φ30
6800 φ10 φ19 5 41 25 10 8 φ24
6900 φ22 6 45 29 11 9 φ27
6000 φ26 8 50 34 13 11 φ32
6200 φ30 9 54 38 14 12 φ36
6801 φ12 φ21 5 44 29 10 8 φ26
6901 φ24 6 48 31 11 9 φ30
6001 φ28 8 52 36 13 11 φ34
6201 32φ 10 56 40 15 13 φ38
6802 φ15 φ24 5 47 32 10 8 φ30
6902 φ28 7 57 37 12 10 φ35
6002 φ32 9 60 40 14 12 φ38
6202 φ35 11 64 44 17 15 φ42
6903 φ17 φ30 7 60 38 12 10 φ36
6003 φ35 10 66 44 16 14 φ42
6203 φ40 12 72 50 18 16 φ48
6804 φ20 φ32 7 60 40 12 10 φ38
6904 φ37 9 69 47 15 13 φ45
6004 φ42 12 77 54 18 16 φ50
6204 φ47 14 81 58 20 18 φ54
6805 φ25 φ37 7 69 47 13 11 φ45
6905 φ42 9 77 54 15 13 φ50
6005 φ47 12 88 58 18 16 φ54
6205 φ52 15 94 64 22 20 φ60
6806 φ30 φ42 7 77 54 13 11 φ50
6906 φ47 9 88 58 15 13 φ54
6006 φ55 13 96 66 20 18 φ62
6206 φ62 16 104 74 23 21 φ70
6007 φ35 14 21 19
6207 φ72 17 126 88 26 23 3 φ84
6008 φ40 φ68 15 114 82 23 21 2 φ78
6208 φ80 18 134 96 27 24 3 φ92
Double shielded 6010 φ50 16 25 22
6210 φ90 20 147 110 31 28 φ106

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Accuracy Info

■Accuracy Information of the Bearings with Housings, Pilot, Retained

Pilot Dia. Tolerance:　g7

Concentricity of the Pilot and the Bearing Housing:　 0.02 or less

Perpendicularity of the Flange Mounting Surface and the Bearing Housing:　 0.01 or less

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Shaft Collar

Shaft Collar
Product name Shaft Collars - D Shaped - Compact Slit Type
Part number PSDNJ15-8
Features Utilization of Mounting Hole on Cut Side facilitates Sensor Bracket Mounting
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Mounting holes on side allow for easy installation of sensor brackets.

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Available sizes

■Shaft Collar Clamp D Cut, Cut Surface Mount Hole, Compact

Material Surface Treatment Accessory
1045 Carbon Steel Black Oxide Hex Socket Head Cap Screw 1 pcs.
Electroless Nickel Plating Hex Socket Head Cap Screw 1 pcs.
(SUS)
304 Stainless Steel −

■Sizes and Dimensions

Shaft Bore Dia. Overall Width
(Thickness) 		O.D. Fastening Screw Dia.
(Coarse) 		Mounting Screw Dia.
(Coarse)
φ10 8 φ30 M3 M3
φ12
φ15
φ16
φ20 φ35
φ25 10 φ42 M4 M4
φ30 12 φ50 M5

* Please see the product pages for dimension details.

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Accuracy Info

Shaft Bore Dia. Tolerance:　+0.05/+0.01

O.D. Tolerance:　±0.1

Overall Width Tolerance:　±0.1

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IDEA NOTE Reverse pneumatic gripper converts linear motion into rotary motion.

The reverse pneumatic gripper uses a cam follower and groove to convert the linear motion of the guided cylinder into rotational motion.

IDEA NOTE Stepper motor helps keep cost down.

A stepper motor and photo micro sensor at the origin enable the rotary motion of the three-claw pneumatic gripper.

IDEA NOTE 揺動自転構造

断面図参照

  • Terms of use of CAD data and simplified drawing data
    These terms and conditions (hereinafter referred to as “the Terms") set forth the conditions for downloading CAD data and simplified drawing data posted on https://th.misumi-ec.com/ (hereinafter referred to as the "Website") operated by MISUMI (THAILAND) CO., LTD. (hereinafter referred to as "MISUMI"). By downloading CAD data and simplified drawing data posted on the Website (hereafter referred to as “Data”), customers are deemed to have agreed to these Terms.

    1. Purpose of Use
    MISUMI offers the following:
    1)CAD data found on the Website (3D CAD data, 3D Intermediate data and 2D CAD data) for the purpose of informing customers of the characteristics of the products offered by MISUMI or a manufacturer affiliated with MISUMI for use in their designs.
    2)Simplified drawing data (in PDF format) for the purpose of checking the specifications of products.
    2. Characteristics of Data
    There may be a discrepancy in certain characteristics of products (for example: tolerance, surface roughness, chamfer, etc.) between the Data and the actual product. Furthermore, for the purpose of reducing the file size of the Data, some information such as oil groove shapes, threads, or spring shapes, may be removed from the Data.
    3. Disclaimer
    MISUMI carefully creates the Data but makes no warranty as to the accuracy of the Data. MISUMI may at any time, and with no prior notice to customers, revise or delete Data. MISUMI assumes no responsibility for any damage or loss resulting from any revision or deletion of the Data, or any errors in said data. Customers are solely responsible for all aspects of their own designs, including those made using MISUMI’s CAD data. MISUMI may provide customers with design example data on the Website, but the quality, accuracy, functionality, safety, reliability, etc., of such data are not guaranteed. MISUMI may, at any time, and in its sole discretion, request that the customer cease its use of or destroy the Data in its possession. MISUMI may request the customer provide MISUMI documentation of such destruction.
    4.Prohibited Acts
    Customers or users of the Data, are prohibited from the following acts regarding the Data, in whole or in part:
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    All title and copyright in and to any information contained in the Data are owned by MISUMI or the relevant manufacturer affiliated with MISUMI and are protected by applicable copyright laws and international treaties. By downloading Data, the customer acquires no ownership rights of any kind in the intellectual property contained within. Without prior approval from MISUMI, no part of the Data may be utilized (reproduced, modified, reverse-engineered, uploaded, presented, sent, distributed, licensed, sold, or published) for any purpose other than that mentioned above.
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    10．Miscellaneous
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of Thailand, without regard to its conflicts of law principles. The authorized courts in Thailand shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms.

    Revised: 16th November, 2025

    CAD Download (Unit Assembly)

    CAD Download: File Format
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    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.

    Good IDEA!

    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.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. 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

  • Purpose
    • Gripper reverses and rotates the workpiece as it is laser engraved.
  • Operation
    • Workpieces are transported to the receiving/discharging position by a robot. Once the workpiece is in place, the three-claw pneumatic gripper reverses the part 90° and moves forward into printing position. As the piece is being laser marked, a stepper motor and timing belt rotates the workpiece. When printing is completed, the gripper reverses back 90° into receiving/discharging position and the piece is removed by a robot.

Target workpiece

  • Shape: Bar-shape
  • Workpiece size: φ 12 x L 145 mm
  • Weight: 37 g

Design Specifications

Operating Conditions or Design Requirements

  • Stroke of the three-claw pneumatic gripper: 6 mm
  • Reversing angle: 90°
  • Rotation angle: 90°
  • External size: W 460 x D 165 x H 230 mm

Required Performance

  • Position repeatability accuracy of the three-claw pneumatic gripper: ± 0.1 mm

Design Evaluation

Verification of main components

  • Verify the gripping force of the pneumatic gripper for appropriate workpiece gripping force.
  • Check the gripping force of the three-claw pneumatic gripper
    • Conditional values: Center of gravity of workpiece L1 = 85mm, workpiece gripping point L2 = 59.5 mm, workpiece weight m = 37 g, supply pressure p = 0.5MPa, gravitational acceleration g = 9.8m/s², friction coefficient μ=0.2 (metal vs. metal)
    • Gripping force F1 of the three-claw pneumatic gripper at supply pressure p, and workpiece gripping point L2 is obtained form the graph as F1 = 4.5 N.
      Gripping force on the workpiece F1' = F1 x μ Thus, F1' = 4.5 x 0.2 = 0.9 N
    • Required gripping force F2 is obtained from the balance of the moment as follows.
      Mg×L1=F2×L2
      F2 = Mg x (L1/L2) Thus, F2 = 37 x 10⁻³ x 9.8 x (85/59.5) = 0.518 N
      F1'>F2 Thus, sufficient gripping force is achieved.

Other Design Consideration

  • Install a mechanical stopper to limit the rotation of the three-claw pneumatic gripper below 270°. This stopper serves as a countermeasure against cable entanglement and disconnection.
  • For safety purposes, a cover is installed over the timing belt.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample Picture MISUMI Part Number
(click the Part Number below for details) 		Quantity
1 Ball Bearing SB6902ZZ 2
2 High Torque Timing Pulleys HTPK32S2M060-A-P4 2
3 Locating Pins(Currently not available) SJPDSC4-4 2
4 Locating Pins SXST-D3-L13-E1 2
5 Cable Carrier SE08F-30-028-14 1
6 Metal Washers WSSS15-4-2 2
7 Bearing W/ Housing SBGCR6901ZZ 2
8 Low Head Cap Screws CBSST4-10 4
9 Timing Belts HTBN256S2M-60 1
10 Parallel Keys KEDS4-12 1
11 Collars CLBP12-16-5 1
12 Shaft Collars PSDNJ15-8 1
13 Collars CLBP15-19-5.5 1
14 Cam Followers CFUA5-13 1
15 Countersunk Screws SFBJ3-8 8
16 Low Head Cap Screws CBSST8-16 4
17 Dowel Pins MSC3-10 2
  • The part list above only contains MISUMI parts.
    Part list download (CSV) includes MISUMI and third party components used in this example.
  • Terms of use of CAD data and simplified drawing data
    These terms and conditions (hereinafter referred to as “the Terms") set forth the conditions for downloading CAD data and simplified drawing data posted on https://th.misumi-ec.com/ (hereinafter referred to as the "Website") operated by MISUMI (THAILAND) CO., LTD. (hereinafter referred to as "MISUMI"). By downloading CAD data and simplified drawing data posted on the Website (hereafter referred to as “Data”), customers are deemed to have agreed to these Terms.

    1. Purpose of Use
    MISUMI offers the following:
    1)CAD data found on the Website (3D CAD data, 3D Intermediate data and 2D CAD data) for the purpose of informing customers of the characteristics of the products offered by MISUMI or a manufacturer affiliated with MISUMI for use in their designs.
    2)Simplified drawing data (in PDF format) for the purpose of checking the specifications of products.
    2. Characteristics of Data
    There may be a discrepancy in certain characteristics of products (for example: tolerance, surface roughness, chamfer, etc.) between the Data and the actual product. Furthermore, for the purpose of reducing the file size of the Data, some information such as oil groove shapes, threads, or spring shapes, may be removed from the Data.
    3. Disclaimer
    MISUMI carefully creates the Data but makes no warranty as to the accuracy of the Data. MISUMI may at any time, and with no prior notice to customers, revise or delete Data. MISUMI assumes no responsibility for any damage or loss resulting from any revision or deletion of the Data, or any errors in said data. Customers are solely responsible for all aspects of their own designs, including those made using MISUMI’s CAD data. MISUMI may provide customers with design example data on the Website, but the quality, accuracy, functionality, safety, reliability, etc., of such data are not guaranteed. MISUMI may, at any time, and in its sole discretion, request that the customer cease its use of or destroy the Data in its possession. MISUMI may request the customer provide MISUMI documentation of such destruction.
    4.Prohibited Acts
    Customers or users of the Data, are prohibited from the following acts regarding the Data, in whole or in part:
    (1)Requesting quotations or placing orders for products with third parties other than those authorized by MISUMI or its affiliates;
    (2)Receiving quotations or orders for products from third parties by providing the Data to a third party or using the Data in their own business;
    (3)Displaying links to the Website related to the Data on their own websites, etc., without MISUMI's consent;
    (4)Using or reproducing the Data beyond the scope of the above-stated Purpose of Use;
    (5)Modifying, altering, tampering with, translating, or adapting the Data;
    (6)Selling, transferring, lending, sublicensing, or providing the Data to third parties in any way without MISUMI’s consent;
    (7)Altering the content, reverse engineering, decompiling, disassembling, or analyzing the Data;
    (8)Publicly disclosing or exhibiting the Data without MISUMI's consent;
    (9)Using the Data for the purpose of providing products and services identical or similar to those of MISUMI;
    (10)Performing acts that interfere with the proper functioning of this Website, such as acquiring Data in bulk.
    5. Copyright
    All title and copyright in and to any information contained in the Data are owned by MISUMI or the relevant manufacturer affiliated with MISUMI and are protected by applicable copyright laws and international treaties. By downloading Data, the customer acquires no ownership rights of any kind in the intellectual property contained within. Without prior approval from MISUMI, no part of the Data may be utilized (reproduced, modified, reverse-engineered, uploaded, presented, sent, distributed, licensed, sold, or published) for any purpose other than that mentioned above.
    In the event Data is found to have been to be used for any purpose other than that mentioned above or against any applicable laws, MISUMI may pursue any legal remedy available to it, which may result in forbidding the offending user from using the Data or accessing the Website.
    6. Third-Party Data
    MISUMI offers some Data provided by third parties. Such Data may be subject to separate terms and conditions, in addition to these terms. MISUMI makes no guarantee or warranty regarding Data from third parties.
    7. Export Control
    Customers shall comply with all applicable laws and regulations regarding the export of the Data.
    8. Amendments to the Terms
    MISUMI may, at any time, and in its sole discretion, modify these terms and conditions; any such modification will be effective immediately.
    9. Severability
    If any term or provision of these Terms is invalid, illegal, or unenforceable in any jurisdiction, such invalidity, illegality, or unenforceability shall not affect any other term or provision of these Terms or invalidate or render unenforceable such term or provision in any other jurisdiction.
    10．Miscellaneous
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of Thailand, without regard to its conflicts of law principles. The authorized courts in Thailand shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms.

    Revised: 16th November, 2025

    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.

    Good IDEA!

    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.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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