The issue encountered during the simulation of the Stewart platform: "The motion is singular."

Error originates in Mechanical block StewartPlatform/BasePlant/Leg2/Leg Cylindrical. The motion is singular (the mass matrix is singular). Check the mass properties and joint axes of the attached bodies.

During Stewart platform simulation, I encountered the above error. Does anyone know how to resolve it?

Thank you!

Answer 1

[J Chen]

Make sure the mechanism is not over-constrained. Add inertia between two connected joints.