{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one manifold, one pressure sensor and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. 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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    "robotics-automation/end-effectors/vacuum-grippers",
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    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "pressure sensor",
    "blow-off valve",
    "blow off release",
    "compressed air supply",
    "drop release"
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  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000019120",
  "published_at": "2026-09-17T08:15:02.050431Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off before set-down, on a tool changer",
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}