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

조회 수: 8 (최근 30일)
zy geg
zy geg 2023년 12월 6일
답변: J Chen 2023년 12월 28일
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!

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답변 (1개)

J Chen
J Chen 2023년 12월 28일
Make sure the mechanism is not over-constrained. Add inertia between two connected joints.

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