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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.
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No.000079 Grip Mechanism
Good IDEA!
27

Linkage operated grip mechanism controlled and released by an external force.

Related Category

Single Axis Robot

Product name Single Axis Robot RSH1
Part number RSH120-C22A-C-F0-3-800
* 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.

Selection criteria

Suitable for transferring workpieces in cycle time

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Available sizes

■Single Axis Robot (Straight)

Height
(mm) 		Type Lead
(mm) 		Stroke
(50 mm Increments)
65 RSH1 6 150 - 800
12
20
RSH2 5 150 - 1050
10
20
30
RSH3 5 150 - 1050
10
20

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Selection steps

■Single Axis Robot Selection Steps

Load Capacity

↓

Stroke

↓

Cycle Time or Max. Speed

↓

Check for Details

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Accuracy Info

■Accuracy of Single Axis Robot

Height
(mm) 		Type Lead
(mm) 		Stroke
(50 mm Increments) 		Positioning Repeatability (mm)
65 RSH1 6 150 - 800 ±0.02
12
20
RSH2 5 150 - 1050 ±0.01
10
20
30
RSH3 5 150 - 1050 ±0.01
10
20

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Performance info.

■Single axis robot Performance info.

Type Lead
(mm) 		Max. load capacity (kg) Moment capacity (N･m) Max. speed (mm/sec)
Horizontal Vertical Pitching Yawing Rolling 150 - 550 600 650 700 750 800
RSH1 6 40 8 95 70 110 360 324 270 234 216 180
12 20 4 720 648 540 468 432 360
20 12 - 1200 1080 900 780 720 600
Type Lead
(mm) 		Max. load capacity (kg) Moment capacity (N･m) Max. speed (mm/sec)
Horizontal Vertical Pitching Yawing Rolling 150 - 650 700 750 800 850 900 950 1000 1050
RSH2 5 50 16 95 70 110 300 255 225 195 180 165 150 135 120
10 40 8 600 510 450 390 360 330 300 270 240
20 20 4 1200 1020 900 780 720 660 600 540 480
30 7 - 1800 1530 1350 1170 1080 990 900 810 720
Type Lead
(mm) 		Max. load capacity (kg) Moment capacity (N･m) Max. speed (mm/sec)
Horizontal Pitching Yawing Rolling 150 - 600 650 700 750 800 850 900 950 1000 1050
RSH3 5 80 163 128 143 300 255 225 195 180 165 150 135 120 105
10 60 600 510 450 390 360 330 300 270 240 210
20 30 1200 1020 900 780 720 660 600 540 480 420

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Cantilever Shafts

Cantilever Shafts
Product name Cantilever Shafts/Flanged/w Tapped End
Part number FXEB6-12-F5-M3
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Pivot pin for link mechanism.

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Available sizes

■Cantilever Shafts (Screw Mounted)

Type Material Surface Treatment
Round Type

Compact Type 		EN 1.1191 Equiv. Black Oxide
Electroless Nickel Plating
EN 1.4301 Equiv. -
Pin Dia.
(mm) 		Pin Length
(1 mm Increments)
6 5 - 100
8
10
12 10 - 150
13
15
16
17
18
20
22
25
30
35
40
50

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Accuracy Info

■Accuracy of Cantilever Shafts

Perpendicularity: 0.02

Pin Dia.
(mm) 		Tolerance g6
(mm)
6 -0.004
-0.012
8 -0.005
-0.014
10
12 -0.006
-0.017
13
15
16
17
18
20 -0.007
-0.020
22
25
30
35 -0.009
-0.025
40
50

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IDEA NOTE Workpiece retaining using a linkage mechanism.

Workpiece I.D. is unrestrained and released through the operation from a one side by a linkage mechanism.

  • 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.
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    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

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


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    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.

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

Application Overview

Purpose

  • Automated pusher mechanism for grip and release of molded plastic workpieces.

Points for use

  • Workpiece is gripped by jaws placed inside its bore diameter, roughly guided on its outer diameter, and is internally secured by a spring.
  • To release workpiece i.e. gripper jaws, external force is applied.

Target workpiece

  • Molded plastic product
    Dims.: Ø67 x H30mm
    Weight: 50g

Design Specifications

Operating Conditions or Design Requirements

  • External dims.: W190 x D100 x H66
  • Push stroke when clamped: 14mm
  • Single axis robot stroke: 800mm

Required Performance

  • Workpiece retaining load: 2.61N
  • Max. operating force when released: 6.67N

Selection Criteria for Main Components

  • Compression spring
    • Select a spring with a constant that does not apply excessive load on workpiece, as well as keeping the operation efforts low.
  • Linear guide
    • Since little moment loads apply, select an optimum guide relative to the fixture size.

Design Evaluation

Verification of main components

  • Verify retaining load during clamping and the pusher force when releasing.
  • Compression spring load
      • Reaction force F = kx
      • Workpiece retaining load: 2.61N
      • Assumed deflection when retaining workpiece: x = 9mm
      • From k = F / x = 2.61 / 9 = 0.29, spring constant k = 0.29N/mm is selected.

    • Assumed deflection when unchucked: x = 23mm (when workpiece retained 9mm (set length:36mm, free length: 45mm), when unchucked 14mm)
    • Spring load when unchucked: F = kx = 0.29 x 23 = 6.67N
    • Applied pressure by the pusher is 6.67N or more.

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 RSH1 RSH120-C22A-C-F0-3-800 1
2 Linear Guides SSELBZ10-55 2
3 Cantilever Pin FXEB6-12-F5-M3 1
4 Hex Posts PLSBWRK10-35 4
5 Ball Bearing B686ZZ 1
6 Metal Washers WSSB8-3-1 1
7 Metal Washers WSSB8-4-1 2
8 Cam Followers CFFA3-10 2
9 Flat Head Cap Screws FBAM4-65-20 1
10 Spring UR6-45 1
11 Soft Urethanee UREWH10-4-2 2
12 Stop Pins STFHN8-10 2
13 Stop Pins BSTEH8 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.

    Good IDEA!

    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.

    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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