{
  "abstract": "An end effector for porous-face vacuum end-of-arm tooling is described. The tool comprises a mounting flange (10), a foam pad (12), a ejector (14), a zone branch (16), a contact detector (18), and a vent valve (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",
    "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.",
      "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",
    "mounting flange",
    "vent valve",
    "zone branch",
    "porous workpiece",
    "end of arm tooling",
    "sponge",
    "open cell"
  ],
  "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-2026-000006071",
  "published_at": "2026-09-16T08:21:20.947213Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Porous face vacuum gripper, four zone face, two stage ejector, contact triggered",
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}