{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one manifold, one pressure sensor, 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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    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "pressure sensor",
    "contact detector",
    "blow-off valve",
    "blow off release",
    "compressed air supply"
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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-2026-000053500",
  "published_at": "2026-09-17T08:39:09.762364Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four outlet manifold, two stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer",
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