Highlights

Revolute, translational, cylindrical, spherical, universal, fixed, CV, inline and planar joints
Bodies from typed mass properties, geometry primitives or an imported STEP solid
3D contact pairs with stiffness, damping and separate static and dynamic friction
Joint reaction forces and moments, energy and constraint checks, and a plain-language verdict
Send a mechanism to the simulation canvas as a live block or a one-coordinate inertia model

A question it answers

What torque does the drive need over one cycle of this linkage, and what reaction forces do the crank pin bearings actually see?

What you put in

Bodies with mass and inertia — entered directly, derived from a geometry primitive, or measured from an imported STEP solid; markers; joints (revolute, translational, cylindrical, spherical, universal, fixed and constant-velocity); motion drivers; springs, dampers and six-component bushings; contact pairs with a stiffness, force exponent, damping, penetration depth and separate static and dynamic friction coefficients; gravity; time span and step size; and optional design points and design variables whose coordinates can be expressions. Models save and load as files; a length unit is declared per model.

What you get

Time histories of position, velocity and acceleration at any marker; joint reaction forces and moments; constraint violation and energy drift diagnostics; a plain-language verdict on whether the run can be trusted; animated 3D viewport with joint symbols and an orientation gizmo; a model tree with duplicate, delete and suppress; and export of a one-degree-of-freedom mechanism to the canvas as a position-dependent equivalent inertia, torque and damping table.