{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one vacuum pump, 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. 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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    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "vacuum pump",
    "manifold",
    "contact detector",
    "vent valve",
    "contact sensing",
    "electric actuation",
    "release control"
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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-2026-000078348",
  "published_at": "2026-09-17T08:57:07.483031Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four outlet manifold, pump fed, vented after set-down, on a tool changer",
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}