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

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zy geg
zy geg 2023-12-6
回答： J Chen 2023-12-28
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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回答（1 个）

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

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