I’m currently working on simulating a loader mechanism that includes a closed kinematic loop in its arm, actuated by two jacks. From my research, I understand that conducting a full multibody simulation in systems with a closed kinematic loop while all joints are actuated is impossible. Therefore, one of the actuators must be converted to an unactuated joint (Here is the Link for reference).
To address this, I left the right jack of the loader unactuated in my simulation and forced the left side to stay in a specific position, effectively conducting a static analysis (inverse dynamic) and recording the calculated forces on other joints, such as those between the chassis and the arm. Something like pictue below:

Here is my challenge:
When simulating the arm with only one active jack, the forces generated on the unactuated side of the loader are not accurate because the unactuated jack does not apply any force to the mechanism, which it does in reality. Am I correct in this understanding?
If so, how do others typically address this issue in their simulations?
Any insights or suggestions on how to properly simulate this mechanism would be greatly appreciated!I’m currently working on simulating a loader mechanism that includes a closed kinematic loop in its arm, actuated by two jacks. From my research, I understand that conducting a full multibody simulation in systems with a closed kinematic loop while all joints are actuated is impossible. Therefore, one of the actuators must be converted to an unactuated joint (Here is the Link for reference).
To address this, I left the right jack of the loader unactuated in my simulation and forced the left side to stay in a specific position, effectively conducting a static analysis (inverse dynamic) and recording the calculated forces on other joints, such as those between the chassis and the arm. Something like pictue below:

Here is my challenge:
When simulating the arm with only one active jack, the forces generated on the unactuated side of the loader are not accurate because the unactuated jack does not apply any force to the mechanism, which it does in reality. Am I correct in this understanding?
If so, how do others typically address this issue in their simulations?
Any insights or suggestions on how to properly simulate this mechanism would be greatly appreciated! I’m currently working on simulating a loader mechanism that includes a closed kinematic loop in its arm, actuated by two jacks. From my research, I understand that conducting a full multibody simulation in systems with a closed kinematic loop while all joints are actuated is impossible. Therefore, one of the actuators must be converted to an unactuated joint (Here is the Link for reference).
To address this, I left the right jack of the loader unactuated in my simulation and forced the left side to stay in a specific position, effectively conducting a static analysis (inverse dynamic) and recording the calculated forces on other joints, such as those between the chassis and the arm. Something like pictue below:

Here is my challenge:
When simulating the arm with only one active jack, the forces generated on the unactuated side of the loader are not accurate because the unactuated jack does not apply any force to the mechanism, which it does in reality. Am I correct in this understanding?
If so, how do others typically address this issue in their simulations?
Any insights or suggestions on how to properly simulate this mechanism would be greatly appreciated! simscape, simulation, guide MATLAB Answers — New Questions

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