Hello Researchers.
I am working on a tensegrity robotic fish which is made of 5 variable stiffness tensegrity joints (VSTJs) in series. In the initial design as you can see in the diagram there is a spring connecting the base to follower on both sides. Now to develop a control system I am changing these springs to flexible bodies actuated by SMA wires with flexible sensors attached. I can model the robot in Solidworks and import the CAD to simscape.
Question: How can I model the flexible sensor and SMA wires in simscape to develop a dynamic model?
Thank You
A.Shafeeg
hi dear.
in this matter, you have 2 options. setup your simscape model (import from SolidWorks) :
1 ) define a block in Simulink. use a proper mathematical model like lagoudas to simulate the estimated behavior with coding. (I'm not recommending this solution because it's complicated. if you simulate for a 3D model, it will be too slow to run. and if you simulate that in simpler dimensions, it won't be accurate enough to rely on)
2 ) use practical data (recommended). after a proper shape setting, extract the relation between motion and temperature or etc. and use it in your simscape model.
For flex sensor :
if you only use the simulation for your work, use sensor block for motion.
Dear Abdulla Shafeeg
Agreed with Amirhossein Alinaqizade However, you can check out this link: https://www.mathworks.com/help/physmod/sm/ug/sensing.html for further illustration.
Kind Regards
Qamar Ul Islam
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