{
  "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one pressure sensor, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. 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": [
    "foam area gripping tool",
    "tool-change interface",
    "foam pad",
    "ejector",
    "pressure sensor",
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    "vent valve",
    "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-2026-000065358",
  "published_at": "2026-09-17T08:49:04.519862Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Foam pad vacuum gripper, three stage ejector, supply line pressure sensor, vented after set-down, on a tool changer",
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