{
  "abstract": "An end effector for mechanical gripping end effectors for robotic handling is described. The tool comprises a tool-change interface (10), a gripper finger (12), a ejector (14), a contact detector (16), a separating element (18). The arrangement addresses gripping a workpiece whose surface cannot be sealed or magnetised, where a suction face needs a sealing surface and a magnet needs iron, and many parts offer neither. The description covers how the fingers close, what holds the workpiece while they are closed, and what opens them. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
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    "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems"
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    {
      "caption": "Elevation of the gripping face on its mounting.",
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      "number": "FIG-002",
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      "caption": "Signal path between the controlled elements and the cell controller.",
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  "keywords": [
    "contact detector",
    "ejector",
    "gripper finger",
    "separating element",
    "tool-change interface",
    "form closure",
    "end of arm tooling",
    "electric"
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  "published_at": "2026-09-16T07:03:38.085877Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Mechanical with 4 gripper fingers closing on the workpiece by form closure",
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