{
  "abstract": "An end effector for vacuum end-of-arm tooling with compliant bellows cups is described. The tool comprises a tool-change interface (10), a bellows cup (12), a vacuum pump (14), a manifold (16), a zone branch (18), and a contact detector (20), a blow-off valve (22). The arrangement addresses gripping workpieces that are not at the same height, where a rigid cup that reaches the workpiece first takes the whole load while its neighbours are still in the air. The description covers how the folds take up the difference, how many folds are used, and what that does to the seal at the face. 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/sealing-and-suction-pads",
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
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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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      "caption": "Signal path between the controlled elements and the cell controller.",
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  "keywords": [
    "bellows cup",
    "blow-off valve",
    "contact detector",
    "manifold",
    "vacuum pump",
    "tool-change interface",
    "zone branch",
    "height compensation",
    "end of arm tooling",
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000003998",
  "published_at": "2026-09-16T07:09:29.460340Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Bellows cup vacuum gripper, two zone face, six outlet manifold, pump fed",
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}