{
  "abstract": "A mechanical finger gripper comprising one tool-change interface, two gripper fingers, one contact detector and one separating element. When the gripper reaches the gripping position, the gripper fingers are closed by the pneumatic actuator. After the gripper fingers have been opened, the workpiece is released by the separating element. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.",
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  "keywords": [
    "mechanical gripper",
    "tool-change interface",
    "gripper finger",
    "contact detector",
    "separating element",
    "compressed air supply",
    "contact sensing",
    "mechanical gripping",
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    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000009848",
  "published_at": "2026-09-17T08:11:35.184400Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": "OT-2026-000005550",
  "title": "Two finger pneumatic gripper, stripped after set-down, on a tool changer",
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}