It's likely that the timing is off just a little bit. Most likely the needle/hook distance. There should only be about 1 thread distance between the needle and the point of the hook as it comes around the back of the needle. You can check this my removing the needle plate and bobbin basket.
Some Singers have a small hole in the back, just behind the needle bar. If you put the correct screwdriver, hex or torx in that hole and turn, it will change the needle/hook distance. It may not be adjustable on your machine, as some of the lighter weight Singers don't have an internal frame to hold that setting.