{
  "abstract": "An end effector for porous-face vacuum end-of-arm tooling is described. The tool comprises a tool-change interface (10), a foam pad (12), a ejector (14), a manifold (16), a zone branch (18), and a contact detector (20). The arrangement addresses starting the vacuum at the right moment in the approach, where evacuating before the face touches the workpiece wastes air and pulls dust into the circuit, and evacuating late leaves the tool pressing on a workpiece it has not yet gripped. The description covers what detects contact, what that detection starts, and the order of the two events. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
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    "robotics-automation/end-effectors/vacuum-grippers",
    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "lifting-positioning-manipulation/vacuum-lifting/sealing-and-suction-pads"
  ],
  "extent": {
    "figures": 2,
    "paragraphs": 26,
    "words": 1525
  },
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
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    {
      "caption": "Elevation of the gripping face on its mounting.",
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
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  "keywords": [
    "contact detector",
    "ejector",
    "foam pad",
    "manifold",
    "tool-change interface",
    "zone branch",
    "approach detection",
    "end of arm tooling",
    "foam",
    "closed cell"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000003627",
  "published_at": "2026-09-16T07:07:17.727678Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Porous face vacuum gripper, two zone face, six outlet manifold, two stage ejector, contact triggered",
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}