{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, six bellows cups, one ejector, one manifold, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. 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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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "contact detector",
    "blow-off valve",
    "blow off release",
    "compressed air supply",
    "contact sensing"
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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-2026-000043768",
  "published_at": "2026-09-17T08:29:06.584190Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Six bellows cup vacuum gripper, six outlet manifold, three stage ejector, pulsed blow-off after set-down, on a tool changer",
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