{
  "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 contact detector (18), and a vent valve (20). The arrangement addresses controlling the moment the workpiece is let go, where releasing before the workpiece is supported drops it, and releasing late drags it across the set-down surface as the tool lifts away. The description covers which valve opens the circuit, the position the workpiece must reach first, and what the tool does between those two moments. 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"
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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": [
    "contact detector",
    "ejector",
    "suction cup",
    "tool-change interface",
    "vent valve",
    "zone branch",
    "release timing",
    "end of arm tooling",
    "oval",
    "polyurethane"
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  "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-2026-000005637",
  "published_at": "2026-09-16T08:05:26.175482Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Vacuum cup gripper, two zone face, ejector fed, contact triggered, vented after set down",
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}