degenerate mass distribution on its follower side.

I'm trying to simulate a 3 Link swimmer robot in fluid environment.

The simulation is working fine for angle less than 45degrees to the two revolute joints.

But when I try to increase the angle further it gives error .

The link is connected to the world frame through 6-DOF joint.

Link to the simulation file: https://drive.google.com/file/d/1wrrz_INgDwK4uLLkyF4flLDyiFW6VeXl/view?usp=sharing

[祺]

Have you solved the problem now?

Answer 1

[Sulaymon Eshkabilov]

If you are using a variable step solver (by default) in your model sim, then you'd need to try with fixed step solver and tighten the abs and rel error tolerances.

[pratik kadam]

I Have treied that too. But still same error