Why does my multibody model fail when I introduce constant signal blocks to more than one prismatic joint?

I am having an issue with introducing multiple signal blocks to the prismatic joints in my model, a hexapod. There is no issue when I apply one constant signal to one of the actuators of the hexapod, but introducing a signal to the other actuators causes the model to fail.

The diagonistics viewer outputs: "Targets or motion inputs are specified for every joint around a kinematic loop:" Followed by a list of joints and:

"Targets for Revolute Joint 'hexapod/Revolute1' are ignored. You can configure this diagnostic in the Simscape Multibody Configuration Parameters dialog."

For reference, I am trying to recreate something similar described in the paper, "Analysis of 3 RPS robotic platform motion in simscape and MATLAB GUI environment". My Hexapod is supposed to have 6 actuators but I am starting with only 3 to simplify the model. I've attached the hexapod simscape simulation and a picture of the diagram that causes an error.

Answer 1

[Alex]

Try to take off one state target per line. You've made to much state targets, so there are kinematics loops, where only joints with state targets or motion targets exist, when you apply a motion input to more then one of your prismatic joints.

I would suggest you to use as few state targets as possible and as much as necessary and let the simulation do the rest. I didn't know your project that good, but i doubt that every joint needs a position state target even if it's priority level low.