Rigid body dynamics simulators are important tools for the design, analysis and optimization of mechanical systems in a variety of technical and scientific applications. This study examines four different simulation environments (Adams, Simscape, OpenModelica, and VEROSIM), focusing in particular on the comparison of the modeling methods, the numerical solvers, and the treatment of numerical problems that arise especially in closed-loop kinematics (esp. redundant boundary conditions and static equilibrium problem). A novel and complex crane boom of a real forestry machine serves as a practical benchmark application example. The direct comparison of the different solution approaches in the examined simulation tools supports the user in selecting the most suitable tool for his application.

翻译：刚体动力学仿真器是各类技术与科学应用中机械系统设计、分析和优化的重要工具。本研究考察了四种不同的仿真环境（Adams、Simscape、OpenModelica 和 VEROSIM），重点比较了建模方法、数值求解器以及闭环运动学中出现的数值问题处理方式（特别是冗余边界条件与静态平衡问题）。以真实林业机械中一个新颖且复杂的起重机吊臂作为实际基准应用案例。通过对所考察仿真工具中不同求解方法的直接比较，可为用户选择最适合其应用场景的工具提供支持。