Problem by simulating a kinematic with a singularity in SimMechanics

Hello MATLAB-Team,

I'm a student from Germany and use SimMechanics to simulate the workspace of some parallelic structures for my project thesis.

When I want to simulate the model with only one or with two not equal moving actuators (faster moving or a different phase) I get an error-warning because there might be a singularity at a specific time. I checked the actuators but they should move not as far that the system reaches his singularity.

My system consists of two body-blocks, a revolute joint and two custom joints (transversal in z and revolut in y). For more information you can download the data at: http://www.file-upload.net/download-3956000/Parallelroboter_transversal1.mdl.html

I know that there is the possibility that I can choose `robust singularity handling` at the environment. I do but nothing changed.

I would be very obliged if you can help me.

Answer 1

[Steve Miller]

This message indicates you have a degree of freedom with no inertia associated with it. I was not able to download your model, but I suspect at some point during the simulation two of your revolute joint axes aligned with each other and there was no inertia associated with the connection between those frames.

--Steve