{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is 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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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "vacuum pump",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "drop release",
    "electric actuation"
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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-2026-000052377",
  "published_at": "2026-09-17T08:37:55.233643Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Single cup vacuum gripper, pump fed, vented before set-down, on a tool changer",
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}