{
  "abstract": "An end effector for vacuum end-of-arm tooling for robotic material handling is described. The tool comprises a tool-change interface (10), a suction cup (12), a ejector (14), a zone branch (16), a pressure sensor (18), and a vent valve (20). The arrangement addresses changing the tool between jobs without rewiring the cell, where a dedicated tool per workpiece family means a robot that spends its shift waiting for a fitter with a spanner. The description covers what carries the tool side, how the lock is commanded, and what crosses the interface. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
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  "categories": [
    "robotics-automation/end-effectors/vacuum-grippers",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "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.",
      "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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    {
      "caption": "Signal path between the controlled elements and the cell controller.",
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      "number": "FIG-003",
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  "keywords": [
    "ejector",
    "pressure sensor",
    "suction cup",
    "tool-change interface",
    "vent valve",
    "zone branch",
    "tool exchange",
    "end of arm tooling",
    "oval",
    "polyurethane"
  ],
  "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-2026-000004983",
  "published_at": "2026-09-16T07:41:37.415944Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Vacuum cup gripper, two zone face, two stage ejector, pressure verified, vented before set down",
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}