{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, three bellows cups, one vacuum pump, one isolation valve, one manifold, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows 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",
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "vacuum pump",
    "isolation valve",
    "manifold",
    "contact detector",
    "vent valve",
    "common isolation",
    "compressed air supply"
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  "license": {
    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000071352",
  "published_at": "2026-09-17T08:53:11.039722Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three bellows cup vacuum gripper, three outlet manifold, common isolation valve, pump fed, vented before set-down, on a tool changer",
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