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From: Ruud on 5 Jul 2010 14:29
Dear all,

I am having problems with my simmechanics model. The model is kind a like a flight simulator (Stewart platform like Matlab example) only with some differences. So it has a body which is carried by 6 legs forming 3 'diamond shaped' supports with only revolute joints.

The problem is that I obtain the following error message:

"Error originates in Mechanical block _Plant/Leg 6/Joint 4. The coordinate systems attached to this joint must lie on the prismatic axis (for 1 axis) or in the plane of the prismatic axes (for 2 axes). If joint has no prismatic axes, the attached coordinate systems must be collocated, within tolerances"

Joint 4 has no prismatic axes, it is a revolute joint which connects the specific leg to the body being carried by all the six legs. If I remove the sixed leg, the fifth leg shows the same problem and so on.

Now I assumed that the CS in the top body should have the same orientation as the leg body part connected by the specific joint generating the error. However this does not solve the problem. I also adjoined the CS of the top body with the CS of the leg body but this too does not solve it.

Can somebody explain me more clearly what the error message (coordinate systems must be collocated???) means and what I can try that might solve it.

Much thanks in advance.

Ruud

p.s. Obviously I have read the help etc. before I aks it here and yes I am aware that the assembly restriction for revolute joints says that origins of the connected Body CSs on either side of the Joint must be spatially collocated points, to within assembly tolerances. However it seems related to my error message, it doesn't help me much.
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