390

105
110
10

11

340
8 12

7 13

60
6 II

9
5

4 A A

3
2

1 80

170

A-A
Scale 1:2

V 23
Scale 2:1

39 C7 Holder support unit 2 1 Steel Workshop

24
38 SCPW46-12-14 Flexible coupling 1 Steel MISUMI
37 E-GSCB5-14 Hex socket cap screw M5-14 4 Steel MISUMI
25 36 TS2005-362LC7 Ball screw shaft ∅20-05 1 Steel THK
II Linear shaft both tapped ends
35 LM20 2 Steel MISUMI
Scale 2:1
34 E-GSCB5-8 Hex socket cap screw M5-8 4 Steel MISUMI
26
33 SLW4 Lock washers M4 4 Steel MISUMI
∅ 15 k6
32 LBNR4 Hex nuts M4x0.7 4 Steel MISUMI
31 E-GSCB4-25 Hex socket cap screw M4-25 4 Steel MISUMI
30 FF15 Floating support unit 1 Steel THK
29 STWN15 Retaining ring 1 Steel MISUMI
28 6002 Radial bearing 1 Steel SKF

18 27 BTK2005V-2ZZ Ball screw nut ∅20-05 1 Steel THK

19 26 FK15 Fixed support unit 1 Steel THK

∅ 14 H7/k6
20 25 7002 Angular contact bearing 2 Steel SKF
24 SCSAW15-10 Collar 2 Steel MISUMI
∅ 12 H7/k6
23 RN15 Lock nut 1 Steel THK
22 LMF20UU Linear bushing ∅20 2 Steel THK
IV Hex socket cap screw M5-15
21 E-GSCB5-15 8 Steel MISUMI
Scale 2:1
20 LBNR5 Hex nuts M5x0.8 37 Steel MISUMI

39 19 SLW5 Lock washer M5x0.75 37 Steel MISUMI

III 18 E-GSCB5-40 Hex socket cap screw M5-40 3 Steel MISUMI
Scale 2:1
17 CSPPN-M4-35 Phillips pan head screw M4-35 2 Steel MISUMI
38 16 D4MC-5000 Mechanical limit switch 1 Steel, Aluminum OMRON
15 SGMAV-02AA61 Servomotor 1 Steel YASKAWA

V 14 E-GSCB6-10 Hex socket cap screw M6-10 4 Steel MISUMI

13 C6 Rubber plate 2 Rubber Workshop

12 CSPRD-M5-18 Phillips flat head screw M5-18 18 Steel MISUMI

37 11 E-GSCB5-25 Hex socket cap screw M5-25 16 Steel MISUMI
10 C5 Gripper plate 2 Steel Workshop

36 9 C4 Holder support unit 1 1 Steel Workshop

8 C3 Gripper base plate 1 Steel Workshop

7 C2 Both tapped ends shaft ∅20 4 Steel Workshop

35 6 C1 Adapter plate 1 Steel Workshop
27 21 5 SLW8 Lock washers M8 12 Steel MISUMI
4 E-GSCB8-25 Hex socket cap screw M8-25 12 Steel MISUMI

28 22 3 SLW10 Lock washer M10 6 Steel MISUMI

2 RCB10-35 Hex bolts M10x1.5x35 6 Steel MISUMI
1 IRC5 Disk rev1 IRB460 1 Steel ABB
∅ 15 k6 29 No. Symbol Name [Link] Material Notation
100
270 DESIGN OF A GRIPPER FOR PALLETIZING ROBOT CAPSTONE PROJECT
30
Func. Full name Sign. Date Quantity Weight Scale
IV 34 31 III Design [Link] 10/08
GRIPPER ACTUATOR
1 70kg 1 :2
32 Instruct. [Link] Sheet: 1 Total sheets:
33 Approve. HCMC University of Technology
C0 Mechanical Engineering Faculty