{
  "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 isolation valve (16), a manifold (18), and a contact detector (20). The arrangement addresses holding a porous or uneven workpiece that a rigid cup cannot seal, where a rigid lip needs a smooth continuous surface, and a sawn, textured or perforated workpiece does not offer one. The description covers how the porous face distributes the vacuum, what stops the flow escaping through the face itself, and what the pad is carried on. 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",
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    "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.",
      "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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  "keywords": [
    "contact detector",
    "ejector",
    "foam pad",
    "isolation valve",
    "manifold",
    "tool-change interface",
    "porous workpiece",
    "end of arm tooling",
    "foam",
    "closed cell"
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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-2026-000005659",
  "published_at": "2026-09-16T08:06:12.895381Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Porous face vacuum gripper, common isolation valve, six outlet manifold, two stage ejector, contact triggered",
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}