Four-bar Mechanism: Active Forces and Torques
This is a standard benchmark for mechanical system modeling tools. Three bars are attached by revolute joints, while the fourth is attached to ground. A spring is attached between the coupling link and ground. A motor with varying torque (dependant on speed) is modeled using a Custom Component.
The model is simulated to give the angular velocity from startup, as well as the reaction forces on the driven joint.
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