Tensegrity robotic fish modelling in Simscape multibody
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Hi,
I am currently working on a project to develop a tensegrity robotic fish. The fish consists of 5 Variable Stiffness Tensegrity Joints (VSTJs) joined in series. VSTJ is shown in the picture attached. I have a few questions regarding modelling this in Simscape.
Question 1: How can I model the strings in the joint?
Question 2: I am attaching a flexible strain sensor to sense the curvature as the joint bends, will I be able to model this flexible sensor and will I be able to see the bending in simulation?
Question 3: How can I develop a model for hydrodynamic interaction between the robotic fish and its environment?
P.S. : I am new to Simscape but can code in matlab.![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/785888/image.jpeg)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/785888/image.jpeg)
Thank You
A.Shafeeg
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