Unable to correctly import Spherical Parallel Manipulator CAD files into Simulink. kinematic constraints cannot be maintained error

I am currently working on programming a spherical parallel manipulator. I am very new to matlab and I also have minimal knowledge of programming and calculus.

When I import my onshape assembly into simulink and try to run the simulation I get an error saying that the kinematic constraints cannot be maintained. The simulation works for about 0.007 seconds before returning this error.

This is the exact error message:

An error occurred during simulation and the simulation was terminated

Caused by:

• ['V2_SPM_Assembly/Revolute9', 'V2_SPM_Assembly/Solver Configuration']: 'V2_SPM_Assembly/Revolute9' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.

So far I have tried:

• Turning down the tolerance. This results in the same error. Although the simulation works for about 0.108 seconds.
• Changing the solver type. I tried all of the solver types and they do affect how long the simulation runs before resulting in an error but they never result in a simulation time greater than a second or so.
• Redoing the CAD design. I remade the whole design and made sure that every axis of rotation is defined directly off of the origin.
• Changing the order in which I assigned the revolute joints. This had no effect.
• Replacing "revolute7", "revolute8", and "revolute9", with cylindrical joints. This resulted in a position violation error.
• Changing how mate connectors were assigned in onshape part studios. I assigned mate connectors to be aligned with the relative axis of rotation and used those connectors in the joints. When I did not do this then the model resulted in a position violation error.

I have had minor success with:

• Turning down the tolerance, and changing the way the joints are defined. I was able to get the model to simulate without an error. However, it only went through about 10 degrees of rotation on the base axis.
• Changing the way the mate connectors where assigned in the onshape parts studios was the biggest improvement I have had and it made it so I stopped getting the position violation error.
• Simulating the model with only one leg of the spherical parallel manipulator. This worked perfectly but it will not suffice for my project.

What I think the problem is:

I think that the part origins are the issue but I do not know how to correctly define them. The mate connectors help but I am unsure whether they act as coordinate systems for the parts. I have a Solidworks license but it is for Solidworks 2022 and it does not export to Simulink.

If anyone has any suggestions on what else I could try I would love to hear them. I linked my onshape file, and simulink file below as well as an image of the model.

https://cad.onshape.com/documents/d27868ad0436caa3f4afe2cb/w/a233bf5d473eb4ccb1022246/e/4dd27757644eec07373ecc70?renderMode=0&uiState=66542a76150c1c53248dd442