{
  "abstract": "An end effector for vacuum end-of-arm tooling with compliant bellows cups is described. The tool comprises a mounting flange (10), a bellows cup (12), a plant vacuum connection (14), a contact detector (16), a pressure sensor (18). The arrangement addresses gripping workpieces that are not at the same height, where a rigid cup that reaches the workpiece first takes the whole load while its neighbours are still in the air. The description covers how the folds take up the difference, how many folds are used, and what that does to the seal at the face. 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",
    "lifting-positioning-manipulation/vacuum-lifting/sealing-and-suction-pads",
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    "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply"
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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": [
    "bellows cup",
    "contact detector",
    "plant vacuum connection",
    "mounting flange",
    "pressure sensor",
    "height compensation",
    "end of arm tooling",
    "plastic"
  ],
  "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-2026-000007251",
  "published_at": "2026-09-16T09:06:54.170542Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Bellows cup vacuum gripper, plant vacuum fed, pressure verified, contact triggered, plastic cups, 1 fold",
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}