{
  "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 vacuum pump (14), a contact detector (16). The arrangement addresses changing the tool between jobs without rewiring the cell, where a dedicated tool per workpiece family means a robot that spends its shift waiting for a fitter with a spanner. The description covers what carries the tool side, how the lock is commanded, and what crosses the interface. 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",
    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "robotics-automation/end-effectors/tool-changers"
  ],
  "extent": {
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    "paragraphs": 23,
    "words": 1264
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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.",
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      "number": "FIG-002",
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  "keywords": [
    "contact detector",
    "gripper finger",
    "vacuum pump",
    "tool-change interface",
    "tool exchange",
    "end of arm tooling",
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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-2026-000006945",
  "published_at": "2026-09-16T08:55:01.439155Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three finger mechanical gripper, pump fed, contact triggered on the face, pneumatic drive",
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}