... M 31 M12 M 22 M 32 M 13 q1 N1 q N M 23 2 M 33 q3 N3 (9) By solving Eq (9) above, we can get the value of qi , qi (i = 3) However, ... calculated by these two Eqs (3) -(4): FF FFV FFJ FV sin 36 00 q1 q2 q3 FJ sin 36 00 q1 q2 q3 FC FCV FCJ FV cos 36 0 q1 q2 q3 (3) (4) The above two equation ... the fish robot (in air) is about kg Y (link3) l3 (link2) l2 (link0) l0 (link1) l1 3 T2 T1 a2 m3 (x3,y3) a3 2 m2 (x2,y2) a1 1 X m1 (x1,y1) Fig Fish robot analytical model In Fig 2, T1 and T2...