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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.

Disclaimer

  • 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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  • 2014 Copyright MISUMI
  • The data cannot be used for any purposes (including sales promotion) except for designing your machine.
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  • 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

  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.000128 Sorting Mechanism
Good IDEA!
0

Reduce cycle time by utilizing right/left sorting mechanism

Relevant category

Single axis robot

Single axis robot
Product name Single Axis Robot RS2
Part number RS220-C1-C-3-150
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Selection steps | Accuracy Info | Performance info. | Technical calculations

Selection criteria

Robot is selected to minimize jerk during transporting.

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Available sizes

■Single axis robot (RS, slider type, No brake)

General specifications

Ball screw Motor Position detector Operating environment
temp - Humidity 		Controller input
power supply
φ8
(C10 Rolled) 		Stepping Resolver
(Incremental) 		0〜40℃・35〜85%RH
(No condensation) 		DC24V±10%
φ12
(C10 Rolled)

Basic specifications

Slider Upper Surface
Height (mm) 		Type Lead
(mm) 		Stroke
(mm)
51 RS1 2 50〜400
(Increment of 50)
6
12
57 RS2 6 50〜800
(Increment of 50)
12
20
60 RS3 6 50〜800
(Increment of 50)
12
20

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Selection steps

■Single axis robot selection steps

Load capacity

↓

Stroke

↓

Cycle time or Max. Speed

↓

Detail confirmation

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Accuracy Info

Single axis robot accuracy

Repeatability: ±0.02

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Performance info.

■Single axis robot Performance info.

Slider Upper Surface
Height (mm) 		Type Lead
(mm) 		Load capacity(kg) Max. push force Allowable moment capacity (N·m) Max speed
(mm/sec) 		Rated
life
Horizontal Vertical (N) Pitching Yawing Rolling
51 RS1 2 6 4 150 19 16 17 100 10,000km
or more
6 4 2 90 300
12 2 1 45 600
57 RS2 6 10 2 90 33 25 30 300～190 10,000km
or more
12 6 1 45 600～380
20 4 - 27 1000～633
60 RS3 6 12 4 120 38 32 34 300～190 10,000km
or more
12 8 2 60 600～380
20 6 - 36 1000～633

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Technical calculations

Convenient sizing software is available to use.

■Single axis robot selection (WEB design support service)

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Air gripper

Air gripper
Product name Air Gripper - Parallel Type -
Part number ACHK6-N
Features Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force and.
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Selection steps | Performance info.

Selection criteria

Compact suitable for workpiece gripping.

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Available sizes

■Small parallel air gripper (Integrated sensor)

Part name Material Surface treatment
Main body 5056 Aluminum Alloy Clear anodize
Fingers · Attachment mount 1045 Carbon Steel Nitriding treatment

■Specifications and Dimensions

Operating method Stroke Cylinder I.D. Overall width Overall height Thickness
Single Acting · Double Acting 4 φ8 26 40.5 10
6 φ12 30 45 16.4

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Selection steps

■Small parallel gripper selection steps

Confirmation of Conditions
(Confirming required stroke,weight, and shape)

↓

Calculation of required gripping force
  • 10~20 times of the workpiece weight required
  • (Varies by friction coefficient of fingers and workpiece.)

↓

Model Selection
  • ●Gripping method (O.D. gripping · I.D. gripping)
  • ●Open/close operation method (Single acting or Dual acting)
  • ●Stroke
  • ●Gripping points and gripping force

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Performance info.

■Small parallel gripper (Integrated sensor) load info.

Stroke Cylinder
I.D. 		Operating pressure
range 		Effective gripping force(N) Allowable static load(N)
Single acting (Spring) Dual acting F1 F2
4 φ8 0.3～0.5MPa 4.2(1) 4.9 5 2.5
6 φ12 10.4(1.9) 12.2 10 5

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Cable carrier

Cable carrier
Product name Cable Carriers Flap Open-Close Type
Part number MHPUS202-45-12-A
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes

Selection criteria

To protect connection cables

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Available sizes

■Cable carrier, Flap open/close type

Main body Mounting bracket
Material Material Surface treatment
Nylon 6 + Glass Fiber 20%
(Operating temp. -10~80℃)
Flammability standards UL94-HB equivalent 		Low Carbon Steel Trivalent chromate

■Sizes and Dimensions

Name
No. 		Bend radius Number of links Mounting direction Inner height Mounting height (Required
space
height)
Inner height Height Inner width Width Link pitch
102 19 5〜23 Mounting Direction S
For Both Moving and Fixed Ends: Common to the outer and inner circumferences		 9 12 20 27 20 50 65
202 25 6〜34 Mounting Direction A
For Moving Ends: Mounting on the Outer Circumference
For Fixed Ends: Common to the Outer and Inner Circumference 		Mounting Direction B
For Moving Ends: Mounting on the Inner Circumference
For Fixed Ends: Common to the Outer and Inner Circumference 		14 20 14 26 25 70 85
30 6〜34 80 95
45 8〜36 110 125
203 30 6〜34 14 20 20 32 25 80 95
45 8〜36 110 125
204 38 6〜36 14 22 20 40 32 98 118
50 7〜37 122 142
206 38 6〜36 14 22 40 60 32 98 118
50 7〜37 122 142
306 50 6〜38 Mounting Direction A
For Moving Ends: Common to the Outer and Inner Circumference
For Fixed Ends: Mounting on the Outer Circumference 		Mounting Direction B
For Moving Ends: Common to the Outer and Inner Circumference
For Fixed Ends: Mounting on the Inner Circumference 		24 34 44 60 45 134 160
100 10〜42 234 260
408 50 6〜38 24.5 40 58 78 45 140 170
75 8〜40 190 220
100 10〜42 240 270
150 13〜45 340 370
412 50 6〜38 24.5 40 97 117 45 140 170
75 9〜41 190 220
100 10〜42 240 270

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IDEA NOTE Shorten cycle time

The part feeder sorts parts to both the left and right which doubles the feeding capacity and reduces the cycle time.

  • Terms of Use for 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://mx.misumi-ec.com/ (hereinafter referred to as the "Website") operated by MISUMI MÉXICO, S. DE R.L. DE C.V. (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 the United Mexican States, without regard to its conflicts of law principles. The state and federal courts located in Queretaro, Mexico shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms. By downloading the Data, you agree to submit to the exclusive and personal jurisdiction of the state and federal courts located in Queretaro, Mexico.

    Revised: 27/10/2025

    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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  • * 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

  • Workpieces discharged from a feeder are sorted to the right or the left by a single axis robot.
  • Components are transported by using an air gripper.

Points for use

  • Automated mechanism with air grippers and single axis robots.

Target workpiece

  • Plastic caps
    External dims.: φ20 x L36
    Workpiece weight 6.5g

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: W690 x D428 x H427
  • Single axis robot stroke: 140mm (Workpiece receiving section)-Max operating stroke: 150mm
  • Single axis robot stroke: 115mm (Workpiece Sorting section)-Max operating stroke: 150mm
  • Cylinder with twin guides stroke: 10 mm

Selection Criteria for Main Components

  • Single axis robot
    • Select a robot with a load capacity that exceeds the combined weight of all the moving mechanisms. This actuator should also satisfy the required allowable moment load rating.
  • Air gripper
    • The allowable static load rating of the gripper should exceed the load weight.
  • Cylinder with guides
    • Select a cylinder with a load rating that is smaller than the allowable eccentric load (from catalog).

Design Evaluation

Verification of main components

  • Verify that the motor has the required load capacity to transport the components in both directions. Ensure that the motor has the required allowable moment rating.
  • Single axis robot transported load
    • <Right/left air gripper>: 0.253kg
      Air gripper: 37g, Speed controller: 8g x 2, Gripper fingers: 8g x 2, Upper drive base: 87g, Upper carrier bracket; 90g, Workpiece: 6.5g
    • Workpiece sorting mechanism: 1.144kg
      Workpiece retainer plate: 680g, Lower drive base: 388g, Workpiece guide: 27g x 2pcs., Fiber unit: 5g x 2pcs., Workpiece: 6.5g x 2pcs.
    • Robot load capacity: 4kg > Total mass (0.253 + 1.144 ＝ 1.397kg): OK

Other Design Consideration

  • The brackets mounted on the cylinder functions as a location guide for sorting and transporting components.

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 Single-Axis Robot RS2 RS220-C1-C-3-150 3
2 Air Cylinders With Twin Guides MGCLF12-10 1
3 Air Gripper Parallel Type ACHK6-N 2
4 Cable Carrier MHPUS202-45-12-A 3
5 Flow Rate Control Valves MNSPS4-M3 4
6 Flow Rate Control Valves SPSNL4-M5 2
7 Sensors for Air Cylinders ME33L3 4
8 Dowel Pins MSC4-10 12
9 Locating Pins SXSXC-D1.2-L5.5-E0.5 4
10 Socket Head Cap Screws-with Washer SCBS3-12 4
11 Socket Head Cap Screws-with Washer SCBS4-6 6
12 Socket Head Cap Screws-with Washer SCBS4-10 18
13 Socket Head Cap Screws-with Washer SCBS4-15 16
  • 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 for 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://mx.misumi-ec.com/ (hereinafter referred to as the "Website") operated by MISUMI MÉXICO, S. DE R.L. DE C.V. (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 the United Mexican States, without regard to its conflicts of law principles. The state and federal courts located in Queretaro, Mexico shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms. By downloading the Data, you agree to submit to the exclusive and personal jurisdiction of the state and federal courts located in Queretaro, Mexico.

    Revised: 27/10/2025

    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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