{
  "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one isolation valve, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. 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": [
    "foam area gripping tool",
    "tool-change interface",
    "foam pad",
    "ejector",
    "isolation valve",
    "contact detector",
    "vent valve",
    "common isolation",
    "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-2026-000053030",
  "published_at": "2026-09-17T08:38:43.524202Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Foam pad vacuum gripper, common isolation valve, two stage ejector, vented before set-down, on a tool changer",
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