{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are 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",
    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "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",
    "ejector",
    "manifold",
    "pressure sensor",
    "vent valve",
    "compressed air supply",
    "drop release",
    "pressure 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-2026-000054541",
  "published_at": "2026-09-17T08:40:17.489937Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Two cup vacuum gripper, two outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer",
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