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Relatively small parts do not convert well to gazebo

Hello  I am converting my robot arm to gazebo. solidworks 2018 / ROS: kinetic , gazebo: 7.0

★Problem 1. Relatively small parts do not convert well to gazebo

Especially Gripper Links >> gazebo: Play >> Collapse

#Test: 1. Gripper Link: Mass Increase >> collapse 2. Dipper(3) & Wrist(4): Vibration occurs >> combine >> Command: OK

#Code: open_manipulator See ... Under test: Complex / Coming soon

open_manipulator_description https://github.com/ROBOTIS-GIT/open_manipulator

open_manipulator_gazebo https://github.com/ROBOTIS-GIT/open_manipulator_simulations

#Working process: One Step Assembly

1th: Coordinate system: Based on Front / Male

2th: Axis : Female

image description image description

3th: Boom(2): Link_2 >> command: OK image description

4th: Dipper(3): Vibration occurs / command: OK -------> small Size Wrist(4) : More vibration image description

5th: Dipper Combine(3+4) / Wrist(4): Remove

★Not vibration / command: OK image description

6th: Link5: Vibration occurs / command: OK image description

7th: Gripper_Servo_Gear -----------> Very small Size(Relatively)

collapse image description image description image description image description Thank you.