{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, six bellows cups, one plant vacuum connection, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connection. 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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    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "plant vacuum connection",
    "isolation valve",
    "manifold",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "common isolation"
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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-2026-000077242",
  "published_at": "2026-09-17T08:56:32.796581Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Six bellows cup vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, manifold pressure sensor, vented before set-down, on a tool changer",
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