In exchange for the pair, the Bucs sent outfielder Gorkys Hernandez and their 2013 competitive balance draft pick to Miami.
Pittsburgh is hoping the 28-year-old Sanchez can regain his form from 2011, when he posted a .266 average with 19 homers, 35 doubles and 78 RBI, making the National League all-star team.
The Miami native took a big step backward this season, batting only .202 with three home runs and 17 RBI in 55 games before being demoted to Class AAA New Orleans.
The 23-year-old Kaminska compiled a 6-4 record with a 5.20 ERA in 33 relief appearances between New Orleans and Class AA Jacksonville this year.
Hernandez, 24, has two hits in 24 at-bats over 25 games with the Pirates this season.