CN114692342B - Structural design method for large deformation driver of microminiature pipeline soft robot - Google Patents
Structural design method for large deformation driver of microminiature pipeline soft robot Download PDFInfo
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Abstract
The invention relates to the technical field of pipeline soft robots, and discloses a structural design method of a large deformation driver of a microminiature pipeline soft robot, aiming at providing a large deformation structural solution for the microminiature pipeline soft robot. Firstly, establishing a driver structure initial configuration of a multi-air cavity driver module according to design requirements of a microminiature pipeline soft robot; secondly, establishing a finite element model for the initial configuration to realize structural deformation performance analysis under the action of driving air pressure; and establishing a structural topology optimization model again, setting design response, optimization targets, design constraints and freezing areas to obtain an optimal theoretical configuration of the large-deformation structure of the driver, and obtaining an optimal engineering configuration according to the optimal theoretical configuration. The method provides a large deformation structure solution for the microminiature pipeline soft robot. Compared with the prior art, the method does not need to rely on engineering experience, has simple steps and is easy to master, and has better engineering practicability compared with the conventional method.
Description
Technical Field
The invention relates to the technical field of pipeline soft robots, in particular to a structural design method of a large deformation driver of a microminiature pipeline soft robot.
Background
Pipeline robots have been widely used for pipeline damage detection and fault diagnosis in important fields such as nuclear industry, petrochemical industry and the like. In order to complete various overhauling and maintenance works in pipelines, rigid body robots of various configurations such as wheel type, crawler type, snake type, multi-foot type and the like have been developed at present. Such rigid body robots generally have a large external dimension, and their hard contact with the pipe wall may aggravate damage, even produce spark-induced combustion explosion accidents. Thus, the method is greatly restricted in the ultra-small pipeline operation, and the ultra-small pipeline is an important component in the nuclear industry and chemical test pipeline system. Compared with a rigid robot, the soft robot has better compatibility, adaptability and safety, and has great application potential in the field of microminiature pipeline operation. The existing pipeline soft robot is difficult to be applied due to oversized structure or insufficient deformation movement capability. The driving mode of the soft robot is more, wherein the pneumatic driving efficiency is high, the response is quick, and the driving mode is the preferred driving mode of the microminiature pipeline soft robot. In order to meet the complex working conditions of multi-branch direction changing, valve obstruction and the like in pipeline operation, the soft robot needs to have an active steering function. Multiple degree of freedom software drivers adhesively assembled from multiple air cavities would be expected to solve this problem.
The multi-air-cavity soft driver is limited by the working space of a microminiature pipeline and the complex working condition, and the large deformation performance is realized while the overall dimension and the driving air pressure are strictly controlled. The demanding design requirements present significant challenges to the software driver architecture design. Whether the traditional trial calculation-trial production-test method or the numerical simulation method of replacing the real trial production test by finite element analysis, even the structural optimization method based on numerical simulation in the academic world needs a basic precondition: the initial configuration of the structure. Based on the existing initial configuration, the structural performance response is obtained through parameterization of structural dimensions or material properties, trial-and-experiment or numerical simulation, and structural optimization design is achieved by combining algorithms such as trial calculation, sensitivity analysis and optimization algorithm. Therefore, the initial configuration has a decisive influence on the performance of the software driver design results. However, the development of a structural configuration with a performance optimization prospect often depends on personal experience of designers, thus greatly preventing the application of soft robotics in the field of pipeline operation. In conclusion, the multi-air-cavity software structure optimization design method which does not depend on engineering experience, is simple in steps and easy to implement is developed, and has important engineering significance for providing a software driver with large deformation performance for a microminiature pipeline software robot.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a structural design method of a large deformation driver of a microminiature pipeline soft robot. Firstly, establishing a driver structure initial configuration of a multi-air cavity driver module according to design requirements of a microminiature pipeline soft robot; secondly, establishing a finite element model for the initial configuration to realize structural deformation performance analysis under the action of driving air pressure; and establishing a structural topology optimization model again, setting design response, optimization targets, design constraints and freezing areas to obtain an optimal theoretical configuration of the large-deformation structure of the driver, and obtaining an optimal engineering configuration according to the optimal theoretical configuration. The method provides a large deformation structure solution for the microminiature pipeline soft robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
(1) Giving a driver structure to be designed based on the existing soft robot;
(2) Establishing an initial configuration of the 1 st drive;
(3) Establishing the initial configuration finite element model;
(4) Building a structure optimization model;
(5) And establishing the optimal engineering configuration of the 1 st drive.
Further, in step (1), the existing soft robot includes a driver module, a front end anchor, a back end anchor, an endoscope; the front-end anchor and the rear-end anchor establish fixed support with the pipe wall through self-expansion, and provide an anchoring function for the movement of the soft robot; the endoscope is an actuator of the soft robot and is used for collecting images of the interior of the pipeline; the driver module comprises n drivers with the same structure, wherein n is 3 or 4, namely a 1 st driver, a 2 nd driver, … … and an n th driver in sequence; the n drivers are annular bodies which are uniformly arranged at 360 degrees around the central axis of the soft robot; the structural dimensions of the torus comprise R, R and L, which respectively represent the outer circle radius, the inner circle radius and the length of the torus, and the numerical values of R, R and L are given according to the design requirement of the soft robot; respectively inputting driving air pressure to the n drivers, and realizing structural deformation required by the motion of the soft robot by controlling the driving air pressure;
further, in step (1), the given driver structure to be designed refers to the 1 st driver as a design object to promote bending deformation thereof under the driving air pressure.
Further, in the step (2), the initial configuration of the actuator is that the initial configuration is designed as a fan-shaped cavity obtained by stretching the cross section of the fan-shaped cavity, and the initial configuration comprises a middle cavity wall, a rear cavity wall and a front cavity wall; the structural dimensions of the initial configuration include: l, t, θ, R, d; l is the length of the initial configuration, t is the wall thickness of the cavity, given t=0.64 r; θ, R represent the angle, inner circle radius, outer circle radius of the section of the fan-shaped cavity, respectively, given θ=360°/n; r, R and L are set according to the structural size of the torus; d is the distance between the outer contour line and the middle contour line of the sector cavity cross section, given d=0.75t; the outer contour line is contracted inwards d at equal intervals to obtain the middle contour line; the middle cavity wall is divided into a design domain and a limit domain by a cutting surface formed by stretching the middle contour line; m connecting walls with the same wall thickness b and axially and equidistantly distributed are arranged in the initial configuration, and vent holes are formed in the connecting walls; b represents the thickness of the m connecting walls, given b=0.5 t; given that m=round (L/R-1) =4, round () represents a rounding operation; the m connecting walls are used for enhancing the overall rigidity of the initial configuration, and the vent holes are used for communicating the whole fan-shaped cavity; and inputting the driving air pressure into the cavity with the initial configuration to deform the cavity.
Further, in the step (3), the step of establishing the initial configuration finite element structure is as follows:
(3.1) establishing an initial configuration finite element structure comprising a structural body, a structural size and a structural unit; the structure body comprises a middle cavity wall body, a rear cavity body and m connecting wall bodies; the middle cavity wall body and the rear cavity body respectively correspond to the middle cavity wall and the rear cavity wall; the m connecting wall bodies correspond to the m connecting walls; the middle cavity wall body is divided into a design domain body and a limit domain body, and the design domain and the limit domain correspond to each other; the structural dimensions are given according to the structural dimensions (L, t, θ, R, d) of the initial configuration; the structural unit is arranged as an eight-node linear body unit.
(3.2) defining material properties including material model and material parameters of the structure; the material model is defined as an elastomer model; the material properties are E and mu, which respectively represent the elastic modulus and the Poisson's ratio, and the values of E and mu are obtained by testing the mechanical properties of soft materials.
(3.3) defining a boundary condition, namely setting a solid support boundary for the front end face of the middle cavity wall body.
(3.4) defining a load, which means that a pressure load P is set to an inner wall surface of the middle chamber wall, given that p=0.03e.
(3.5) defining deformation characteristic points and deformation characteristic values; the deformation characteristic point is the midpoint of a lower arc line of the outer surface of the rear cavity; the deformation characteristic value refers to displacement of the midpoint of the lower arc line to the direction of the arc line center point after the structural body is deformed under the action of pressure load P;
(3.6) defining finite element mesh features, including meshing policies and meshing sizes; the meshing strategy is set to be a global approximation strategy, and the meshing size is set to be 0.12r.
(3.7) defining a solver, which is a static general-purpose solver set as the commercial finite element software ABAQUS.
Further, in the step (4), the step of building the structural optimization model is as follows:
(4.1) setting a structure optimization tool comprising a finite element model, a tool type and a tool characteristic; the finite element model is designated as the initial configuration finite element model, the tool type is set as a topological optimization tool of commercial finite element software ABAQUS, and the tool features are set as a freezing load application area and a boundary condition application area;
(4.2) setting a design response including a displacement response and a volume response; the displacement response is set as the deformation characteristic value, and the volume response is set as the volume value of the design domain body;
(4.3) setting an optimization objective to maximize the displacement response;
(4.4) setting design constraints such that the optimized volume response is less than or equal to 50% of the initial value of the volume response;
(4.5) setting a frozen region to be a portion of the structure other than the design domain;
(4.6) setting the maximum cycle number of optimization solution to 20 times;
(4.7) solving and outputting the optimal theoretical configuration of the 1 st driver through the structure optimization tool.
Further, in step (5), the establishment of the optimal engineering configuration of the driver means that the optimal engineering configuration of the 1 st driver is obtained by regularizing the optimal theoretical configuration; the regularization treatment refers to replacing strong nonlinear geometric features in the optimal theoretical configuration with linear geometric features to obtain a structural body meeting engineering manufacturing requirements.
Compared with the prior art, the invention has the advantages that:
the method of the invention is oriented to the design requirement of the microminiature pipeline soft robot, establishes the initial configuration of the driver of the multi-cavity driver module, and provides a method for setting the structural size of the initial configuration; establishing a finite element model for an initial configuration to realize structural deformation performance analysis under the action of driving air pressure, and defining deformation characteristic values to represent bending deformation performance of the driver; and establishing a structural topology optimization model, and solving to obtain the optimal theoretical configuration of the large deformation structure of the driver, and further obtaining the optimal engineering configuration meeting the manufacturing requirement. Therefore, the method can obtain the driver structure with excellent large deformation bending performance, and provides a large deformation structure solution for the ultra-small pipeline soft robot. In addition, the method does not need to rely on engineering experience, avoids complicated finite element analysis and optimization algorithm programming processes in the implementation process, has simple steps and easy grasp, and has better engineering practicability compared with the conventional method.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of a software robot in an embodiment of the invention.
Fig. 3 is a schematic diagram of the initial configuration of the 1 st drive in the embodiment of the present invention.
Fig. 4 is a schematic diagram of an initial configuration finite element model in an embodiment of the present invention.
Fig. 5 is a schematic diagram of the optimal theoretical configuration of the 1 st drive in the specific application example of the present invention.
Fig. 6 is a schematic diagram of the optimal engineering configuration of the 1 st drive in the specific application example of the present invention.
Fig. 7 is a schematic diagram of deformation of an optimal engineering configuration under positive pressure driving in a specific application example of the invention.
Fig. 8 is a schematic diagram of deformation of an optimal engineering configuration under negative pressure driving in a specific application example of the invention.
Reference numerals: 20. a soft robot; 21. a driver module; 22. a front end anchor; 23. a rear anchor; 24. an endoscope; 25. a central axis; 211. a 1 st driver; 212. a 2 nd driver; 213. a 3 rd driver; 30. an initial configuration; 31. a sector cavity cross section; 32. a middle cavity wall; 33. a rear cavity wall; 34. a front cavity wall; 35. a 1 st connecting wall; 36. 1 st vent; 320. a design domain; 321. a restriction domain; a structure 40; a middle cavity wall 41; a rear cavity 42; 43. the 1 st connecting wall body; 410. designing a domain body; 411. a restriction domain; 412. a front end face; 420. the midpoint of the lower arc.
Detailed Description
The invention is further described below in connection with the examples, which are not to be construed as limiting the invention in any way, but rather as a limited number of modifications which are within the scope of the appended claims.
As shown in fig. 1 to 5, the present invention provides a design method of a large deformation driver of a microminiature pipeline soft robot, which comprises the following steps:
step 1: the driver structure to be designed is given based on the existing soft robot. As shown in fig. 2, the existing soft robot 20 includes a driver module 21, a front-end anchor 22, a rear-end anchor 23, and an endoscope 24; the front end anchor 22 and the rear end anchor 23 establish fixed support with the pipe wall through self expansion, and provide an anchoring function for the movement of the soft robot; the endoscope 24 is an actuator of the soft robot 20 for capturing images of the interior of the tube. The driver module 21 includes n=3 drivers having the same structure, namely a 1 st driver 211, a 2 nd driver 212 and a 3 rd driver 213 in sequence; the 3 drivers are annular bodies which are uniformly arranged at 360 degrees around the central axis 25 of the soft robot 20; the structural dimensions of the torus comprise R, R and L, which respectively represent the outer circle radius, the inner circle radius and the length of the torus, and R=15mm, r=5mm and L=80mm are set according to the design requirements of the soft robot 20; respectively inputting driving air pressure to the n drivers, and realizing structural deformation required by the movement of the soft robot by controlling the size of the driving air pressure; the design of the actuator structure to be designed is to take the 1 st actuator 21 as a design object to promote the bending deformation under the driving air pressure.
Step 2: an initial configuration of the drive is established. As shown in fig. 3, the initial configuration 30 of the 1 st actuator is designed as a fan-shaped chamber stretched from a fan-shaped chamber section 31, comprising a central chamber wall 32, a rear chamber wall 33, and a front chamber wall 34; the structural dimensions of the initial configuration 30 include: l, t, θ, R, d; l is the length of the initial configuration 30, t is the lumen wall thickness, t=0.64r=3.2 mm; the sector chamber section 31 is characterized by an angle θ=360 °/n=120°, an inner radius R, an outer radius R, L given according to the structural dimensions of the torus; the outer contour of the fan-shaped cavity section 31 is equally contracted d=0.75t=2.4mm to obtain a middle contour line 310, and a cutting surface formed by stretching the middle contour line 310 divides the middle cavity wall 32 into a design domain 320 and a limit domain 321; the inside of the initial configuration 30 is provided with m connecting walls with the same wall thickness b=0.5t=1.6mm and axially equidistantly distributed, and the connecting walls are provided with vent holes, and only the 1 st connecting wall 35 and the 1 st vent hole 36 are marked; where m=round (L/R-1) =4, round () represents a rounding operation; the connecting wall serves to enhance the overall rigidity of the initial configuration 30 and the vent holes serve to communicate the entire fan-shaped cavity; the initial configuration 30 is deformed by the input of a driving air pressure into the cavity.
Step 3: and establishing an initial configuration finite element model. As shown in fig. 4, the steps are as follows.
(3.1) establishing an initial configuration finite element structure. As shown in fig. 4, includes a structural body 40, a structural size, and a structural unit; the structure 40 comprises a middle cavity wall 41, a rear cavity 42 and m connecting walls; the middle cavity wall 41 and the rear cavity 42 correspond to the middle cavity wall 32 and the rear cavity wall 33 in fig. 3, respectively; the m connecting wall bodies correspond to the m connecting walls in fig. 2, and only the 1 st connecting wall body 43 is identified, and corresponds to the 1 st connecting wall 35 in fig. 2; the middle cavity wall 41 is divided into a design domain 410 and a limit domain 411, which correspond to the design domain 320 and the limit domain 321 in fig. 2; the structural dimensions are given in accordance with the structural dimensions (L, t, θ, R, d) of the initial configuration 30; the structural units are arranged as eight-node linear body units.
(3.2) defining material properties. A material model comprising a structure, a material parameter; the material model is defined as an elastomer model; the material properties are E and mu, and respectively represent the elastic modulus and the Poisson ratio; the material properties are obtained by testing the mechanical properties of soft materials, wherein E=1.67 MPa and mu=0.45.
(3.3) defining boundary conditions. A bracing boundary is provided to the front face 412 of the central chamber wall 41.
(3.4) defining a load. The inner wall surface of the center chamber wall 41 is provided with a pressure load P, given p=0.03e=0.05 MPa.
(3.5) defining deformation characteristic points and deformation characteristic values. The deformation characteristic point is a lower arc midpoint 420 of the outer surface of the rear cavity 42, and the deformation characteristic value refers to displacement of the lower arc midpoint 420 to the arc center point direction after the structural body 40 is deformed under the action of the pressure load P;
(3.6) defining finite element mesh features. The method comprises a meshing strategy and a meshing size, wherein the meshing strategy is a global approximation strategy, and the meshing size is set to be 0.12r=0.6mm.
(3.7) defining a solver. A static general purpose solver set as the commercial finite element software ABAQUS.
Step 4: and establishing a structural optimization model, wherein the steps are as follows.
(4.1) setting a structure optimization tool. The method comprises a finite element model, a tool type and tool characteristics; the finite element model is designated as the initial configuration finite element model, the tool type is a topological optimization tool of commercial finite element software ABAQUS, and the tool is characterized by a frozen load application area and a boundary condition application area.
(4.2) setting a design response. Including displacement response and volume response; the displacement response is the deformation characteristic value, and the volume response is the volume value of the design domain 410.
(4.3) setting an optimization objective to maximize displacement response.
(4.4) setting design constraints such that the optimized volume response is less than or equal to 50% of the initial value of the volume response.
(4.5) setting the frozen region to be a portion of the structure 40 other than the design domain 410.
(4.6) setting the maximum number of loops of optimization solution to be 20 times.
(4.7) solving the optimal theoretical configuration of the output 1 st driver 211 by the structural optimization tool, as shown in fig. 5.
Step 5: an optimal engineering configuration of the drive is established. Regularizing the optimal theoretical configuration to obtain an optimal engineering configuration of the 1 st driver 211, as shown in fig. 6; the regularization treatment refers to replacing strong nonlinear geometric features in the optimal theoretical configuration with linear geometric features to obtain a structural body meeting engineering manufacturing requirements.
To demonstrate the beneficial effects of the method of the present invention, the bending deformation performance of the optimal engineering configuration was analyzed. And (3) establishing a finite element model for the optimal engineering configuration according to the step (3), and solving to obtain deformation conditions under the conditions of positive pressure driving (0.05 MPa) and negative pressure driving (-0.05 MPa), as shown in figures 7 and 8. Fig. 7 shows that the deformation characteristic value of the optimal engineering configuration under positive pressure driving is-17.1 mm, and fig. 8 shows that the deformation characteristic value of the optimal engineering configuration under negative pressure driving is 17.1mm. In addition, the deformed actuator structure can maintain a stable structural form in both cases. It can be seen that the optimal engineering configuration of the driver has excellent large deformation bending performance, and the driving module of the soft robot consisting of 3 drivers also has excellent large deformation bending performance, so that a large deformation structure solution is provided for the ultra-small pipeline soft robot. Moreover, the implementation steps of the method are analyzed, so that the method does not need to rely on engineering experience, complicated finite element analysis and optimization algorithm programming processes are avoided in the implementation process, the steps are simple and easy to master, and the method has better engineering practicability compared with the conventional method.
Claims (2)
1. A design method of a large deformation driver of a microminiature pipeline soft robot is characterized by comprising the following processing steps:
step (1) giving a driver structure to be designed based on the existing soft robot;
step (2) establishing an initial configuration of the 1 st drive;
step (3) establishing the initial configuration finite element model;
step (4) building a structure optimization model;
step (5) establishing the optimal engineering configuration of the 1 st driver;
in the step (1), the existing soft robot comprises a driver module, a front-end anchor, a rear-end anchor and an endoscope; the driver module comprises n drivers with the same structure, wherein n is 3 or 4, namely a 1 st driver, a 2 nd driver, … … and an n th driver in sequence; the n drivers are annular bodies which are uniformly arranged at 360 degrees around the central axis of the soft robot; the structural size of the torus comprises the outer circle radius, the inner circle radius and the length of the torus, and the numerical value of the structural size of the torus is given according to the design requirement of the soft robot;
in the step (1), the given to-be-designed driver structure refers to taking the 1 st driver as a design object;
in the step (2), the initial configuration of the actuator is that the initial configuration is designed into a fan-shaped cavity which is obtained by stretching the cross section of the fan-shaped cavity and comprises a middle cavity wall, a rear cavity wall and a front cavity wall; the structural dimensions of the initial configuration include: l, t, θ, R, d; l is the length of the initial configuration, t is the wall thickness of the cavity, given t=0.64 r; θ, R represent the angle, inner circle radius, outer circle radius of the section of the fan-shaped cavity, respectively, given θ=360°/n; wherein R is given according to the outer circle radius of the torus, R is given according to the inner circle radius of the torus, and L is given according to the length of the torus; d is the distance between the outer contour line and the middle contour line of the sector cavity cross section, given d=0.75t; the outer contour line is contracted inwards d at equal intervals to obtain the middle contour line; the middle cavity wall is divided into a design domain and a limit domain by a cutting surface formed by stretching the middle contour line; m connecting walls with the same wall thickness b and axially and equidistantly distributed are arranged in the initial configuration, and vent holes are formed in the connecting walls; b represents the thickness of the m connecting walls, given b=0.5 t; given that m=round (L/R-1) =4, round () represents a rounding operation;
in the step (3), the step of establishing the initial configuration finite element structure is as follows:
(3.1) establishing an initial configuration finite element structure comprising a structural body, a structural size and a structural unit; the structure body comprises a middle cavity wall body, a rear cavity body and m connecting wall bodies; the middle cavity wall body and the rear cavity body respectively correspond to the middle cavity wall and the rear cavity wall; the m connecting wall bodies correspond to the m connecting walls; the middle cavity wall body is divided into a design domain body and a limit domain body, and the design domain and the limit domain are corresponding to each other; the structural dimensions are given according to the structural dimensions (L, t, θ, R, d) of the initial configuration; the structural unit is arranged as an eight-node linear body unit;
(3.2) defining material properties including material model and material parameters of the structure; the material model is defined as an elastomer model; the material properties are E and mu, which respectively represent the elastic modulus and the Poisson's ratio, and the values of E and mu are obtained by testing the mechanical properties of soft materials;
(3.3) defining a boundary condition, namely setting a solid support boundary on the front end face of the middle cavity wall body;
(3.4) defining a load, which means that a pressure load P is set to an inner wall surface of the middle chamber wall body, and given p=0.03e;
(3.5) defining deformation characteristic points and deformation characteristic values; the deformation characteristic point is the midpoint of a lower arc line of the outer surface of the rear cavity; the deformation characteristic value refers to displacement of the midpoint of the lower arc line to the direction of the arc line center point after the structural body is deformed under the action of pressure load P;
(3.6) defining finite element mesh features, including meshing policies and meshing sizes; the meshing strategy is set as a global approximation strategy, and the meshing size is set as 0.12r;
(3.7) defining a solver, which is a static general-purpose solver set as commercial finite element software ABAQUS;
in the step (4), the step of building a structural optimization model is as follows:
(4.1) setting a structure optimization tool comprising a finite element model, a tool type and a tool characteristic; the finite element model is designated as the initial configuration finite element model, the tool type is set as a topological optimization tool of commercial finite element software ABAQUS, and the tool features are set as a freezing load application area and a boundary condition application area;
(4.2) setting a design response including a displacement response and a volume response; the displacement response is set as the deformation characteristic value, and the volume response is set as the volume value of the design domain body;
(4.3) setting an optimization objective to maximize the displacement response;
(4.4) setting design constraints such that the optimized volume response is less than or equal to 50% of the initial value of the volume response;
(4.5) setting a frozen region to be a portion of the structure other than the design domain;
(4.6) setting the maximum cycle number of optimization solution to 20 times;
(4.7) solving and outputting the optimal theoretical configuration of the 1 st driver through the structure optimization tool.
2. The method for designing a large deformation driver of a microminiature pipeline soft robot according to claim 1, wherein in the step (5), the establishment of an optimal engineering configuration of the driver means that the optimal theoretical configuration is regularized to obtain the optimal engineering configuration of the 1 st driver; the regularization treatment refers to replacing strong nonlinear geometric features in the optimal theoretical configuration with linear geometric features to obtain a structural body meeting engineering manufacturing requirements.
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Application publication date: 20220701 Assignee: Hunan Hongyuyun Technology Co.,Ltd. Assignor: Hunan City University Contract record no.: X2023980052592 Denomination of invention: A Structural Design Method for Large Deformation Drivers of Ultra Small Pipeline Soft Robots Granted publication date: 20230530 License type: Common License Record date: 20231215 |