{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the plant vacuum connection. 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",
    "sensors-controls-machine-vision/position-and-presence-sensing",
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "plant vacuum connection",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "plant vacuum supply"
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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-2026-000082788",
  "published_at": "2026-09-17T08:59:22.827170Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Single bellows cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer",
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