{
  "abstract": "An end effector for mechanical gripping end effectors for robotic handling is described. The tool comprises a tool-change interface (10), a gripper finger (12), a ejector (14). The arrangement addresses gripping a workpiece whose surface cannot be sealed or magnetised, where a suction face needs a sealing surface and a magnet needs iron, and many parts offer neither. The description covers how the fingers close, what holds the workpiece while they are closed, and what opens them. 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/mechanical-grippers",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "robotics-automation/end-effectors/tool-changers"
  ],
  "extent": {
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    "paragraphs": 21,
    "words": 1244
  },
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
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      "caption": "Elevation of the gripping face on its mounting.",
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  "keywords": [
    "ejector",
    "gripper finger",
    "tool-change interface",
    "form closure",
    "end of arm tooling",
    "electric"
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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-2026-000006495",
  "published_at": "2026-09-16T08:37:34.656636Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three finger mechanical gripper, two stage ejector, electric drive, on a tool changer",
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}