Vacuum-based gripping tool

A gripping tool, comprising

• a vacuum manifold configured to be coupled to a vacuum source;
• a flexible membrane that is conformable to a non-planar surface of an object;
• and
• a plurality of vacuum channels coupled in parallel between the vacuum manifold and the flexible membrane, wherein each of the plurality of vacuum channels comprises:
• a compliant conduit having a proximal end coupled to the vacuum manifold and a distal end coupled to the flexible membrane;
• a vacuum check valve coupled to the proximal end of the compliant conduit, wherein the vacuum check valve is located between the vacuum manifold and an interior space of the compliant conduit;
• and
• a suction cup coupled to the distal end of the compliant conduit;
• wherein the vacuum check valve is biased to a closed condition;
• and
• wherein the vacuum check valve is configured to toggle from the closed condition to an open condition when the vacuum source applies a vacuum in the vacuum manifold and the suction cup is engaged by the object;
• wherein each of the check valves in the plurality of vacuum channels is configured to independently toggle between the closed condition and the open condition such that, when the vacuum source applies the vacuum in the vacuum manifold, the vacuum is maintained in the vacuum manifold and the compliant conduits of the plurality of vacuum channels that have engaged suction cups regardless of a number of the plurality of vacuum channels that have unengaged suction cups.