METHEUS · MODEL-DERIVED BOM · v1.3
Robot-wrist gripper
Bill of materials · final reviewed CAD configuration · 21 September 2026
Assembly instances97Physical parts in the model
Part numbers36Grouped BOM rows
Estimated mass1.032 kgCAD geometry + catalogue values
Source mechanism4RGenerate rank 94 / index 93
Mass is an estimate from modeled geometry and assigned materials, with catalogue mass used where recorded. It is not a weighed prototype. Row mass is the total for the stated quantity; the reference robot has been removed from this configuration.
Parts and materials
| Part number | Description | Material | Qty | Row mass | Design note |
|---|---|---|---|---|---|
| WG-H01 | PA12 palm enclosure / removable shell | PA12 | 1 | 95.76 g | PA12 palm enclosure with a nominal 2.2 mm wall. The tapered rear accommodates the motor and robot flange. No IP rating has been verified. |
| WG-H03 | Integrated rear frame / UR5e mating adapter | Aluminium 7075-T6 | 1 | 98.26 g | Official UR5e 50 mm PCD, 4 x M6, robot female pilot 31.50 H7 and 6 H7 locating hole. UR-to-body clocking -45 deg. Tool-side design: male pilot diameter 31.48 x 2, radial locating slot 6.10 x 8.00, integrated 9 mm fastener seat. M6x 16 countersunk bolts project 7 mm into robot (official maximum 8 mm). Fit, engagement, tightening and installation sequence require physical review. Rear spider perimeter relieved to 84.8 x 80.8 mm,R25.8 for tapered enclosure clearance. |
| WG-H04 | Pocketed bearing frame / perimeter and crossbeam | Aluminium 7075-T6 | 1 | 54.63 g | — |
| WG-H05 | Internal aluminium tie sleeve | Aluminium 6061-T6 | 4 | 23.25 g | Internal frame tie enclosed within the palm. |
| WG-F01 | M3 rear frame screw | Steel 8.8 | 8 | 5.33 g | — |
| WG-G01 | KHK SSG1-24 synchronization gear / m1 24T | S45C steel | 4 | 184.00 g | KHK SSG1-24 reference dimensions: 24 mm pitch diameter, 26 mm outside diameter, 8 mm face width, 20 mm diameter by 10 mm hub, and 8 mm bore. The keyed shaft fit requires a custom machining detail. |
| WG-P01 | 608 bearing / 8 x 22 x 7 | Bearing steel | 4 | 73.10 g | Commercial 608 bearing envelope. Confirm the selected supplier's tolerances and load rating. |
| WG-S01 | 8mm keyed transmission shaft | S45C steel | 4 | 50.15 g | Custom keyed shaft. Key and bearing fits require a manufacturing tolerance review. |
| WG-P02 | Transmission shaft retention washer | S45C steel | 4 | 2.51 g | — |
| WG-M01 | CubeMars AK45-10 V3.0 KV75 | Vendor motor assembly | 1 | 262.00 g | Supplier STEP geometry with a closed envelope derived from the drawing. Rated torque 2.5 N·m, supply 24 V and catalogue mass 262 g. The 7 N·m peak rating is not used for sizing. External power and CAN wiring are required. |
| WG-H06 | Motor rear casing support ring | Aluminium 7075-T6 | 1 | 10.27 g | Four M2.5 mounting holes on a 47 mm PCD attach to the motor casing, not the output flange. |
| WG-S02 | Output flange to keyed gear shaft adapter | Aluminium 7075-T6 | 1 | 10.09 g | Three M2.5 holes on a 27 mm PCD, with 6 mm output-face depth. The adapter to the 8 mm keyed shaft requires final fit and retention details. |
| WG-F02 | M2.5 output adapter screw | Steel 8.8 | 3 | 1.44 g | — |
| WG-L01 | Generated input crank /14mm web x3mm | Aluminium 6061-T6 | 2 | 9.37 g | Original joint centers and 3 mm plate thickness are retained. The 6061-T6 web was widened from 9 to 14 mm after the full-stroke FEM case at 25 N exceeded yield. |
| WG-L02 | Generated follower /14-to12mm tapered web x3mm | Aluminium 6061-T6 | 2 | 10.19 g | Original joint centers and 3 mm plate thickness are retained. The 6061-T6 web tapers from 14 mm at the fixed end to 12 mm at the moving end to clear the opposite follower at full opening. |
| WG-L03R | R generated EE carrier / open triangular plate | Aluminium 6061-T6 | 1 | 8.04 g | J3, J4 and the end-effector geometry are retained; the finger uses a local offset. The carrier is relieved around the opposite moving members, with nominal 0.6–0.7 mm clearance in the 72-position CAD review. Manufacturing clearances require further validation. |
| WG-J01R | R extended aluminium finger / 50 mm exposed reach | Aluminium 7075-T6 | 1 | 20.79 g | 8 x 14 mm shank; original mounting foot and motion frame retained. Tip Z82, front-cover datum Z32: 50 mm exposed reach. Fixed-foot finger bending evaluated separately from planar drive torque; attachment and pad bond remain prototype checks. |
| WG-J02 | Bonded polyurethane contact pad /2 x16 x48mm | Polyurethane | 2 | 3.59 g | 2 mm thick x 16 mm wide x 48 mm long. Original in-plane contact offset preserved. Friction and adhesive properties require physical validation. |
| WG-P0312 | R J1 shoulder pin dia4 | S45C steel | 2 | 2.39 g | Shoulder pin for the layered linkage; the original joint center is retained. |
| WG-P04 | Bronze journal bush /4ID x5OD x3L | Bronze | 10 | 1.88 g | Bushing envelope: 4 mm bore, 5 mm outside diameter and 3 mm length. Final tolerances and lubrication require a manufacturing review. |
| WG-P05 | Pin retaining washer | S45C steel | 6 | 1.03 g | — |
| WG-F03 | M3 pin retention screw | Steel 8.8 | 6 | 2.68 g | — |
| WG-P0316 | R J3 shoulder pin dia4 | S45C steel | 2 | 3.18 g | Shoulder pin for the layered linkage; the original joint center is retained. |
| WG-P0310 | R J4 shoulder pin dia4 | S45C steel | 1 | 0.99 g | Shoulder pin for the layered linkage; the original joint center is retained. |
| WG-H07 | R fixed pivot bearing seat | Aluminium 7075-T6 | 2 | 2.28 g | Enclosed fixed pivot seat, 8 mm high. The 4.04 mm journal bore surrounds a 4 mm pin, giving a nominal radial clearance of 0.02 mm. Fit, wear and lubrication require a manufacturing review. |
| WG-L03L | L generated EE carrier / open triangular plate | Aluminium 6061-T6 | 1 | 8.65 g | J3, J4 and the end-effector geometry are retained; the finger uses a local offset. The carrier is relieved around the opposite moving members, with nominal 0.6–0.7 mm clearance in the 72-position CAD review. Manufacturing clearances require further validation. |
| WG-J01L | L extended aluminium finger / 50 mm exposed reach | Aluminium 7075-T6 | 1 | 18.89 g | 8 x 14 mm shank; original mounting foot and motion frame retained. Tip Z82, front-cover datum Z32: 50 mm exposed reach. Fixed-foot finger bending evaluated separately from planar drive torque; attachment and pad bond remain prototype checks. |
| WG-P0322 | L J3 shoulder pin dia4 | S45C steel | 1 | 2.19 g | Shoulder pin for the layered linkage; the original joint center is retained. |
| WG-H08 | Slotted front palm cover | PA12 | 1 | 25.26 g | Service cover for the moving finger bases. Clearance under manufacturing tolerance and deflection remains to be reviewed. |
| WG-F04 | M3 front-cover screw | Steel 8.8 | 4 | 2.22 g | — |
| WG-C01 | Rear-side cable strain relief | TPU cable jacket | 1 | 0.47 g | — |
| WG-C02 | 24V / CAN pigtail envelope | TPU cable jacket | 1 | 12.00 g | A separate 24 V power supply is required. Power from the robot's tool connector has not been assumed. |
| WG-F05 | M2.5 rear motor casing screw | Steel 8.8 | 4 | 1.81 g | 4 mm thread engagement in the published rear casing interface, on a 47 mm PCD. |
| WG-F06 | M3 finger mounting screw | Steel 8.8 | 4 | 3.01 g | M3 fastener passes through the carrier into a blind finger thread with at least 5 mm engagement. |
| WG-F07 | M6 x 16 countersunk mounting screw | Steel 10.9 | 4 | 17.91 g | ISO10642 nominal M6x 16 envelope, threads simplified. 4 mm hex access. 7 mm insertion beyond robot mating plane; remove actuator/front enclosure for installation access. Supplier head/length tolerances and tightening specification to be verified. |
| WG-P06 | 6 x 10 locating dowel / robot-side installation | Bearing steel | 1 | 2.24 g | Installation hardware: robot-side 6 H7 hole retains 5 mm of dowel, tool-side radial slot accepts remaining 5 mm. Pin fit/retention and robot recess depth require physical confirmation. |
Part selections, manufacturing tolerances, fastener engagement and contact materials still require a production review. This BOM does not certify assembly performance.
Source integrity and calculation scope
Assembly item count: 97. Grouped quantity total: 97. Exact estimated mass: 1.031829623 kg.
Grouped BOM SHA256: 4f9eabdaae1d2426e0d91242b673d3c4373e3ea776a4ec3d2bad8457c267fcf1
Individual CAD items SHA256: 21babe550f36485d7c98b28d89434a7bbbbdf43152fec24cf236d6c0759a7eab