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No.000127 Workpiece rotate and transfer mechanism

Rotate and transfer but workpiece orientation in direction of travel remains the same.

Related Category

Timing Pulley

Product name High Torque Timing Pulleys/8YU
Part number GPA50YU8150-A-N30
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

Low backlash, light weight pulley.

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Available sizes

■High torque timing pulley 8YU type

Material Surface treatment Included
set screw
material
Pulley Flange
EN AW-2017 Equiv. EN AW-5052 Equiv. Clear anodize EN 1.4301 Equiv.
EN 1.1191 Equiv. Low Carbon Steel - Chromium-molybdenum steel
(Black oxide)
Black oxide

■Number of teeth and shaft bore DIA.

Shape Applicable belt width Number of teeth Pitch circle DIA. Shaft bore DIA.
With hub 15 ・ 20 ・ 25 20 - 60 Ø50.93 - Ø152.79 Ø16 - 32
No hub

* Please see the product pages for details.

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Selection steps

■Timing pulley selection steps

Determining of usage conditions
Designed power, rotational speed, rotation ratio, interim shaft distance, motion pattern, etc.)

Pulley (Belt) temporary selection
Tooth profile・Belt width

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

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Accuracy Info

■Timing pulley accuracy

Shaft bore tolerance: H7

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Technical calculations

■Technical calculations

1. https://uk.misumi-ec.com/pdf/fa/p2823.pdf

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Ball Spline

Product name Ball Splines/Both Ends Tapped
Part number BSHS6-80-M3-N3
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Used for both linear and rotary motion at the same time

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Available sizes

■Ball spline (Both ends tapped)

Spline
shaft
Material EN 1.3505 Equiv. EN 1.4125 Equiv.
Hardness 58HRC ~ 55HRC ~
Nut Material EN 1.722515 Equiv. EN 1.4125 Equiv.
Hardness 58HRC ~ 55HRC ~
Shape Round flange
Compact flange -
Straight

■Dimensions

Spline shaft Nut
Name No. Shaft DIA. Overall length Pilot DIA.
6 Ø6 60 - 400 Ø14
8 Ø8 Ø16
10 Ø10.4 90 - 600 Ø21
13 Ø13.4 100 - 600 Ø24
16 Ø16.6 110 - 600 Ø31

* Length selection range will vary according to material and nut configuration.
Please see the product pages for details.

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Selection steps

■Ball spline selection steps

Determine application conditions
(Load, Torque, Feed distance, Life)

Temporarily select ball spline specifications
(Spline shaft DIA., spline shaft length, overall length are temporarily selected based on application conditions.)

Safety Check
  • ●Load capacity
  • ●Life

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Accuracy Info

■Ball spline shaft accuracy

(µm)

Name
No.
Spline
shaft DIA.
Nut O.D. runout Spline shaft center runout (Max.)
(Max.) Length - 200 201 - 315 316 - 400 401 - 500 501 -
6 Ø6 27 72 89 126 163 -
8 Ø8
10 Ø10.4 33 59 83 103 82 102
13 Ø13.4 39 56 71 83 62 75
16 Ø16.6

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Performance info.

■Ball spline rated loads

Name
No.
Basic torque rating Basic load rating
Dynamic (Nm) Static (Nm) Dynamic (kN) Static (kN)
6 3.8 7 1.2 2.1
8 4.8 8.7 1.2 2.1
10 11 21 2.4 4.3
13 20 37 3.3 5.9
16 51 93 6.2 11.1

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Technical calculations

■Ball spline life calculations

Ball spline's running life is calculated with the formula below.

●For radial load

ラジアル負荷の場合

●For torque load

トルク負荷の場合
  • L: Life (km)
  • ft: Temperature factor
  • fh: Hardness factor
  • fp: Load rating ratio
  • fw: Load factor
  • L0: Rated life (50km)
  • C: Basic dynamic load rating (N)
  • F: Applicable radial load (N)
  • Ct: Basic dynamic torque rating (N・m)
  • T: Applicable torque (N・m)

Ball spline's life time is calculated with the formula below.

寿命時間
  • Lh: Run hours (hr)
  • L: Life (km)
  • St: Stroke length
  • n: Cycles per minute (cpm)

■Temperature factor (ft)

Temp. factor (ft)

■Hardness factor (fh)

Hardness factor (fh)

■Rated load ratio (fp)

Name No. Spline shaft DIA. Distributed load Direct download
10 Ø10.4 1 0.71
13 Ø13.4 1 0.71
16 Ø16.6 1 0.68

■Load factor (fw)

App. condition Load factor (fw)
No vibrations or shocks
(Low speed 1 ~ 2 15m/min or less)
1 - 2
Some vibrations and shocks
(Med. speed 2 ~ 3 60m/min)
2 - 3
Severe vibrations and shocks
(High speed 3 and over 60m/min or over)
3 -

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Air Gripper

Product name Air Gripper/Parallel Type
Part number ACHK6-D
Features Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Suitable for gripping small rectangular workpiece

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Available sizes

■Small parallel gripper (Sensor mounted type)

Part name Material Surface treatment
Main body EN AW-5056 Equiv. Clear anodize
Jaws ・ attachment mounting EN 1.1191 Equiv. Nitriding treatment

■Specifications and Dimensions

Operating method Stroke Cylinder I.D. Overall width Overall height Overall thickness
Single acting ・ Double acting 4 Ø8 26 40.5 10
6 Ø12 30 45 16.4

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Accuracy Info

■Small parallel gripper selection steps

Confirm Design Specifications
(Confirm required stroke, workpiece weight, etc.)

Calculations of required gripping force
10 ~ 20 times the workpiece weight
(Varies depending on friction coefficient between the jaws and workpiece)

Selecting a model type and applicability confirmation
  • ●Gripping method (O.D. gripping ・ I.D. gripping)
  • ●Open/close operation method (Single acting ・ Double acting)
  • ●Stroke
  • ●Gripping points and gripping force

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Performance info.

■Small parallel gripper (Sensor mounted type) load info.

Stroke Cylinder
I.D.
Operating pressure
range
Effective grip force (N) Allowable static load rating (N)
Single acting (Spring) Dual acting F1 F2
4 Ø8 0.3 ~ 0.5MPa 4.2 (1) 4.9 5 2.5
6 Ø12 10.4 (1.9) 12.2 10 5

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IDEA NOTE One actuator performs swinging and workpiece rotation.

Drive pulley rotates the gripper arm 90°-from one conveyor line to another. Since pulley ration is 2:1, part of the gripper arm rotates 180° (driven pulley translates the motion to ball spline and workpiece gripper).

  • 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 provided by MISUMI Corporation (hereinafter referred to as "MISUMI") via www.misumi-europe.com operated by MISUMI Europa GmbH(hereinafter referred to as the "Website"). 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 quality, accuracy, functionality, safety, reliability, etc., 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 the 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 consent of MISUMI or its affiliates;
    (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 consent of MISUMI or its affiliates;
    (7)Altering the content, reverse engineering, decompiling, disassembling, or analyzing the Data;
    (8)Publicly disclosing or exhibiting the Data without consent of MISUMI or its affiliates;
    (9)Using the Data for the purpose of providing products and services identical or similar to those of MISUMI or its affiliates;
    (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 or the Terms, 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. Section 139 BGB (German Civil Code) shall not apply.
    10.Miscellaneous
    In the event that Customers violate the Terms, MISUMI and/or MISUMI Europa GmbH shall be entitled to claim the damages and expenses (including attorney's fees) incurred by such violation against the Customers.
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of the Federal Republic of Germany, without regard to its conflicts of law principles. The courts located in Frankfurt am Main/Germany 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 courts located in Frankfurt am Main/Germany.

    Revised: September 21, 2025

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
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    Click the Good IDEA! button when this application example is helpful.


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

    Cautions on the CAD data

    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. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be 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 Data including the third-part components are made by the Company.

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  • * Unit assembly CAD data consists of some sub-assemblies.
       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • (Purpose)
    Workpieces on a conveyor are rotated 90 degrees and transferred to the next process.
    The gripper rotates 180 degrees, ensuring the workpiece is transferred without changing its orientation.
  • (Operation)
    Gripper down → Grip workpiece → Gripper up → 90 degree rotation and transfer → Gripper rotate 180 degrees → Gripper down → Workpiece released → Gripper up

Target workpiece

  • Shape: Connector
    size: W40 x D30 x H26
    Weight: 0.1kg

Design Specifications

Operating Conditions or Design Requirements

  • Transfer angle: 90 degrees
  • Rotation angle: 180 degrees
  • Up/down cylinder stroke: 10mm
  • Clamp stroke: 3mm One side
  • External dims.: W136 (Before rotation) x D403 x H398

Selection Criteria for Main Components

  • Timing pulley ratio is 2 : 1
  • Minimize inertia by reducing weight of the swinging parts, etc.
  • Select an air gripper force that accounts for the friction coefficient and the workpiece weight.

Design Evaluation

Verification of main components

  • The Motor selection calculations are shown below since the inertia moment applied to the stepping motor is critical.
  • Time for 90 degree motion t0: 0.5 sec.
  • Acceleration time t1: 0.1 sec.
  • Inertia moment of swinging object: JL = 4.16 x 10⁻²kg・m²
  • Operation angle: θ = 90°, Stepping motor min. step angle: θs = 0.072°
  • Operation pulse count: A=θ/θs=1250 pulses
  • Pulse rate: f2 = A / (t0 - t1) = 3125Hz
  • Motion speed: NM = θs / 360 x f2 x 60 = 37.5r/min
  • Selected motor's rotor inertia moment: J0 = 1.1 x 10⁻⁴
  • Gear ratio: i = 1 / 10
  • Acceleration torque calculation: Ta = (J0・i² + JL) / 9.55 x NM / t1 = 2.065N・m
  • Required torque calculation: TM = Ta x Safety margin = 4.13N・m (Safety margin of 2)
  • Based on Motor Torque Characteristic chart, the selected motor is OK
  • Confirmation of inertia ratio: JL / (J0 x i²) = 3.78 ≤ 10 is OK

Other Design Consideration

  • The pulley at the center of rotation is fixed.
  • For actual installation, a cover will be needed to ensure safety and dust prevention.

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 Deep Groove Ball Bearings B6006ZZ 2
2 Deep Groove Ball Bearings B6004ZZ 2
3 High Torque Timing Pulleys GPA50YU8150-A-N30 1
4 High Torque Timing Pulleys GPA25YU8150-A-N28 1
5 Timing Belts GBN720EV8YU-150 1
6 Ball Spline BSHS6-80-M3-N3 1
7 Parallel Keys KED8-20 2
8 Metal Washers WASS12-3-2 1
9 Extra Thin Resin Washers SWSPS12-6-0.5 1
10 Resin Washers FTCMS-D6-H9-V3.0-T2.0-L6.0 1
11 Air Gripper Parallel Type ACHK6-D 1
12 Fingers for Air Grippers YFTB6-P10-L20 2
13 Sensors for Air Cylinders ME34L1 2
14 Hex Posts PLSBWRK7-25 4
15 Air Cylinders MSCCN12-10 1
16 Cantilever Pin FXCC8-22-F5-G5-MA6 1
17 Idler AFBD19-30 1
18 Screw Stopper TSBE5-5 1
19 Adjusting Bolts AJSTM5-25 1
20 Blocks For Adjusting Bolts AJSBM5-21 1
21 Metal Washers WSSB35-10-3 1
22 Metal Washers AWSM-A-D38.0-V30.0-T5.5 2
23 Couplings MCOC38-18-18 1
24 Hex Posts PLSBF13-155-M5-N5 4
25 Retaining Rings RTWN42 2
26 Retaining Rings RTWN55 2
27 Metal Washers WSSB10-6-1 1
  • The part list above contains only MISUMI parts.
    The list of parts and machined products of other manufacturers than MISUMI can also be downloaded by part list download (CSV).
  • 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 provided by MISUMI Corporation (hereinafter referred to as "MISUMI") via www.misumi-europe.com operated by MISUMI Europa GmbH(hereinafter referred to as the "Website"). 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 quality, accuracy, functionality, safety, reliability, etc., 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 the 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 consent of MISUMI or its affiliates;
    (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 consent of MISUMI or its affiliates;
    (7)Altering the content, reverse engineering, decompiling, disassembling, or analyzing the Data;
    (8)Publicly disclosing or exhibiting the Data without consent of MISUMI or its affiliates;
    (9)Using the Data for the purpose of providing products and services identical or similar to those of MISUMI or its affiliates;
    (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 or the Terms, 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. Section 139 BGB (German Civil Code) shall not apply.
    10.Miscellaneous
    In the event that Customers violate the Terms, MISUMI and/or MISUMI Europa GmbH shall be entitled to claim the damages and expenses (including attorney's fees) incurred by such violation against the Customers.
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of the Federal Republic of Germany, without regard to its conflicts of law principles. The courts located in Frankfurt am Main/Germany 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 courts located in Frankfurt am Main/Germany.

    Revised: September 21, 2025

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when this application example is helpful.


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

    Cautions on the CAD data

    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. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be 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 Data including the third-part components are made by the Company.

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