{
  "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 choosing where the vacuum comes from, where an ejector spends compressed air continuously while a pump adds mass at the tool and a plant line couples every tool on the site together. The description covers which source feeds the circuit, what it needs in turn, and what that choice fixes about the rest of the tool. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
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  "categories": [
    "robotics-automation/end-effectors/mechanical-grippers",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "robotics-automation/end-effectors/tool-changers"
  ],
  "extent": {
    "figures": 2,
    "paragraphs": 21,
    "words": 1262
  },
  "figures": [
    {
      "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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  "keywords": [
    "ejector",
    "gripper finger",
    "tool-change interface",
    "supply choice",
    "end of arm tooling",
    "pneumatic"
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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-2026-000006785",
  "published_at": "2026-09-16T08:48:35.975623Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three finger mechanical gripper, ejector fed, pneumatic drive, on a tool changer",
  "uuid": "01a0a967-5285-7e01-bae3-13065d225c71"
}