{
  "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, one contact detector and one blow-off 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 workpiece is blown off by the blow-off 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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    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "zoned vacuum tool",
    "tool-change interface",
    "bellows cup",
    "plant vacuum connection",
    "manifold",
    "zone branch",
    "contact detector",
    "blow-off valve",
    "blow off release",
    "compressed air supply"
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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-2026-000085520",
  "published_at": "2026-09-17T09:01:41.564662Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Four bellows cup vacuum gripper, four zone face, six outlet manifold, plant vacuum fed, sustained blow-off before set-down, on a tool changer",
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