{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, three suction cups, one vacuum pump, 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 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",
    "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",
    "vacuum pump",
    "manifold",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "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-2026-000058873",
  "published_at": "2026-09-17T08:43:47.568543Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three cup vacuum gripper, three outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer",
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