{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one plant vacuum connection, one manifold, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. 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/position-and-presence-sensing",
    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "plant vacuum connection",
    "manifold",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "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-2026-000056569",
  "published_at": "2026-09-17T08:41:49.577818Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Two cup vacuum gripper, two outlet manifold, plant vacuum fed, manifold pressure sensor, vented before set-down, on a tool changer",
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