{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one manifold, one pressure sensor 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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    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds",
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "pressure sensor",
    "vent valve",
    "compressed air supply",
    "pressure sensing",
    "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-2026-000080654",
  "published_at": "2026-09-17T08:58:13.512436Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down, on a tool changer",
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