I want to simulate and control the famous stewart platform in ROS and gazebo. I started with modeling the system in Solidworks and when i wanted to export the assembly to a URDF description i ran into a problem that the URDF description doesn't allow multiple joints to have the same child with different parents. Thus when i try to connect the different arms to the platform i end up with an error stating that there are multiple links with the same name.
My question is:
Is there any work around for this? I have searched for the problem and i found that SDF description supports closed loop joints, is this a solution to my problem ?!
Here's link to a picture of my model in Solidworks to help you visualize the system:
[Stewart Platform](https://drive.google.com/a/zewailcity.edu.eg/file/d/0B3tXh2Xw65VLZEVRdWJhSGtwT3M/view?usp=sharing)
Thanks in Advance
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