{
  "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 plant vacuum connection (14), a separating element (16). The arrangement addresses separating a workpiece that stays on the face after the grip is released, where a thin or slightly adhesive workpiece can follow the face upwards even with the circuit open. The description covers what pushes the workpiece off, what it acts on, and when it acts relative to the release. 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-components-safety-infrastructure/plant-utilities/vacuum-supply",
    "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems",
    "robotics-automation/end-effectors/tool-changers"
  ],
  "extent": {
    "figures": 2,
    "paragraphs": 25,
    "words": 1317
  },
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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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  "keywords": [
    "plant vacuum connection",
    "gripper finger",
    "separating element",
    "tool-change interface",
    "mechanical stripping",
    "end of arm tooling",
    "pneumatic"
  ],
  "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-2026-000007218",
  "published_at": "2026-09-16T09:05:39.401765Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three finger mechanical gripper, plant vacuum fed, stripped from the face, pneumatic drive",
  "uuid": "01a0a976-f046-7aea-b3c5-eea140ffadef"
}