{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is 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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    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "robotics-automation/end-effectors/tool-changers"
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    "words": 921
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "plant vacuum connection",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "contact sensing",
    "plant vacuum supply",
    "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-2026-000066037",
  "published_at": "2026-09-17T08:49:33.262219Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer",
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