Help with Simscape Multibody

I'm trying to create a simulation representing the 4 DOF for a robotic arm. My issue is in the "M3 and L3" block of my attached file. The link is using a revolute joint and I can't get it to move how I need it to. I know the direction the Z axis should be in to for the joint to move how I'd like it to but when I rotate the axis, the joint no longer works. I based my simulation off of the pendulum example provided by the Simscape Multibody tutorial videos ( https://www.youtube.com/watch?v=lItmRlH4iBw&t=448s )

The image shows how the link is currently moving and how I need it to move. I've also attached my Simscape Multibody file.

Answer 1

[J Chen]

The z-axis of the revolute joint needs to align with the desired roration axis. Use the Rigid Transform block in the Simscape/Multibody/Frames and Transformation to rotate the revolute joint. You may need a Rigid Transform block at each joint of the revolute joint.