Simscape Multibody - Error "Model not assembled due to a position violation" when I change the value of the actuation input of a RevoluteJoint

Question

Salih Yildiz 2021-2-4

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https://ww2.mathworks.cn/matlabcentral/answers/735562-simscape-multibody-error-model-not-assembled-due-to-a-position-violation-when-i-change-the-value

编辑： hossein m 2023-9-14

3AxDelta.slx

Hi,

i am currently trying my first major project in Simscape (delta robot).

I want to adjust the angles of the joints RevoluteJoint2, 3 and 4 via three inputs. When I do that I get the mentioned error. If all joints have the same input value, no error occurs.

Can someone tell me why the error occurs? Thank you.

Project:

Is attached.

Error message:

"An error occurred while running the simulation and the simulation was terminated

Caused by:

['untitled_ohneCad/Solver Configuration']: Model not assembled due to a position violation. The failure occurred during the attempt to assemble all joints in the system and satisfy any motion inputs. If an Update Diagram operation completes successfully, the failure is likely caused by motion inputs. Consider adjusting the motion inputs to specify a different starting configuration. Also consider adjusting or adding joint targets to better guide the assembly."

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Asser Waked 2021-8-10

Hey, I am facing the same problem in my project (Quattro or 4dof delta) did you find a way to get through this? Thanks!

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Answer 1

Steve Miller 2021-6-7

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my3AxDelta_v2.slx

Hi Salih

The joints you have in your model (all revolute joints) require that the upper angle of each arm all be actuated to the same angle. You would need to add more degrees of freedom to permit the arms to bend to different angles.

I adjusted your model so that

all arms bend to the same input angle
a slider can be used to set the angle
the simulation is "paced" to run around real time so that you can see the response of the slider interactively.

--Steve

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hossein m 2023-9-14

编辑：hossein m 2023-9-14

hi

Can you help with this project?

https://ch.mathworks.com/matlabcentral/answers/2020591-simscape-multibody-error-model-not-assembled-due-to-a-position-violation-when-i-change-the-valu

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Answer 2

Rahim Aktas 2022-6-14

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I got such an error in the stewart robot model, can you help with the solution?

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Answer 3

mariangela bonaccurso 2022-9-18

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Hello,

i built this model on solidworks and implemented on simscape. Now to the model I have to create a linear movement (i.e. back and forth of the slider on the guideway).

This is the solidworks model:

This is the implementation:

Running this error results:

['Modello21/Solver Configuration']: Model not assembled due to a position violation. The failure occurred during the attempt to assemble all joints in the system and satisfy any motion inputs. If an Update Diagram operation completes successfully, the failure is likely caused by motion inputs. Consider adjusting the motion inputs to specify a different starting configuration. Also consider adjusting or adding joint targets to better guide the assembly.

Can anyone help me how to solve this problem in order to create this movement?

Thanks in advance