Error in simulating imported cad model

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Ravleen Kaur Dehiya 2018-2-10

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https://ww2.mathworks.cn/matlabcentral/answers/381895-error-in-simulating-imported-cad-model

编辑： Arvind Narayanan 2018-3-5

I am getting the following error when i try to simulate a robot model that I successfully imported in matlab:

Error evaluating equations at time 0.0. Stopping simulation. There may be a singularity in the solution. If not, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances) 'Copy_of_Manual_bot/SixDOF1' has a degenerate mass distribution on its follower side.

I have tried using all the solver configurations present in the model configuration tab (both fixed step and variable step) and have tried reducing the step size to as small as 0.00001 but nothing seems to help.

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Ravleen Kaur Dehiya 2018-2-10

The link to the entire imported file is:

https://drive.google.com/drive/folders/1leuUlNt7roRRX4HYXdRNYTl99-_W1ZnJ?usp=sharing

I have given a signal to revolute joint which is at the bottom of the model.

Arvind Narayanan 2018-3-5

编辑：Arvind Narayanan 2018-3-5

You are getting a degenerate mass distribution error because the NEWSTEPPERMOUNT2_RIGID block seems to be connected to the world frame via the Transform5 block and through a 6 DOF joint. But in actuality, it is just floating in space disconnected from the rest of the model. I suggest having a look at the Transform5 block and editing it's parameters to ensure the rigid body is connected correctly. Also, I am unable to render the NEWSTEPPERMOUNT2_RIGID body in the Mechanics Explorer.

Basically, edit the Transformers! https://www.youtube.com/watch?v=v9CtVUX_Haw

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