{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one manifold, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector. 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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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "contact detector",
    "vent valve",
    "compressed air supply",
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    "release control"
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    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000078196",
  "published_at": "2026-09-17T08:57:07.483031Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Three bellows cup vacuum gripper, three outlet manifold, single stage ejector, vented after set-down, on a tool changer",
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