{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, six suction cups, one vacuum pump, one manifold, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent 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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    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds",
    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "vacuum pump",
    "manifold",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "drop release"
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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-2026-000051805",
  "published_at": "2026-09-17T08:37:27.829082Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Six cup vacuum gripper, six outlet manifold, pump fed, vented before set-down, on a tool changer",
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}