{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one manifold and one vent valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector. 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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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "vent valve",
    "compressed air supply",
    "drop release",
    "release control",
    "tool changing"
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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-2026-000070092",
  "published_at": "2026-09-17T08:52:19.726120Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four outlet manifold, two stage ejector, vented before set-down, on a tool changer",
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}