---
publication_id: "OT-2026-000003336"
title: "End effectors with individually positionable vacuum cups"
published_at: "2026-09-15T20:12:04.793234Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003336"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j15/0616"
  - "b25j15/0616"
  - "b25j15/06"
  - "b65g2201/0211"
  - "b65g2201/0211"
  - "b65g47/91"
---

# End effectors with individually positionable vacuum cups

## Abstract

An end effector having an individually positionable piston formed directly onto a movable pipe with one end of the movable pipe connected to a common plenum chamber and the other end to a bellows-shaped collapsible vacuum cup with the movable pipe forming an elongated air evacuation chamber to permit quick evacuation and pickup of an article located proximate the bellows-shaped collapsible vacuum cup and a stabilizer located proximate the bellows-shaped collapsible vacuum cup to act as a stop to prevent swaying of the article as the bellows-shaped collapsible vacuum cup is moved from one position to another.

## 1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

[0006] Sheet 6.

[0007] Sheet 7.