{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one plant vacuum connection, one manifold, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent 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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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "plant vacuum connection",
    "manifold",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "plant vacuum supply"
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000061729",
  "published_at": "2026-09-17T08:46:27.528336Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Four cup vacuum gripper, four outlet manifold, plant vacuum fed, vented after set-down, on a tool changer",
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