{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one vacuum pump, one pressure sensor, one contact detector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is 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",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "contact sensing",
    "drop release",
    "electric actuation"
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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-2026-000074002",
  "published_at": "2026-09-17T08:54:35.679268Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Single bellows cup vacuum gripper, pump fed, supply line pressure sensor, vented before set-down, on a tool changer",
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