Multibody link quadruped robot modeling problems
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Hi,
Im currently having problems with my quadruped robot model simulation in simscape multibody. I designed the robot in solidworks and transferred the design with mates to the matlab environment. I have differential equations that drive the joints to make the robot walk. I transferred the model on my simulink project file and when i drive the joints with ANY signal i always get singularity and kinematic constraints cannot be maintained errors after 1.1147 seconds.
I already tried lowering and tightening the solver consistency tolerances, using local solvers, different variable step solvers. Sometimes the joints dont even lock up either. I will share a couple screenshots that demos my case: (i disabled the signals in order to detect the problem)
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Ritika Thusoo
2026-6-12
编辑：Ritika Thusoo
2026-6-12
0 个投票
Since the issue occurs even when the actuation signals are disabled, the problem is likely related to the imported CAD mechanism or constraint definition.
Please try the following troubleshooting steps:
- Review the SolidWorks mates and ensure only supported, non-redundant mate types are used before export.
- Simplify the assembly where possible by removing redundant constraints and rigidifying subassemblies.
- Try simulating the model without inputs or external forces to confirm if the mechanism itself is stable.
- Validate the initial pose and motion using “Simscape Multibody KinematicsSolver” to check for infeasible configurations or singularities.
For more information, refer to the following MathWorks documentation:
- If needed, rebuild a smaller portion of the model, such as one leg, using explicit Simscape joints to isolate the issue.
For more information on Simscape Multibody, refer to the MathWorks documentation:
If the issue persists, please contact MathWorks Technical Support.
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