{
  "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 ejector (14), a contact detector (16), a blow-off valve (18). The arrangement addresses putting the workpiece down quickly without it sticking to the face, where a vented cup releases at the speed the circuit refills, and a light workpiece can stay stuck to a damp elastomer face long after the vacuum is gone. The description covers where the pulse is injected, when it is given relative to set-down, and how long it lasts. 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",
    "lifting-positioning-manipulation/vacuum-lifting/sealing-and-suction-pads",
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    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors"
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
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      "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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  "keywords": [
    "bellows cup",
    "blow-off valve",
    "contact detector",
    "ejector",
    "tool-change interface",
    "fast release",
    "end of arm tooling",
    "plastic"
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000005188",
  "published_at": "2026-09-16T07:48:56.208405Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Bellows cup vacuum gripper, two stage ejector, contact triggered on the face",
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}