Simscape Multibody Actuation Problem

I have been trying to work on a model that mirrors the actuator of an excavator boom such that, it includes a double pendulum system and a couple of actuators connected in between the pendulum arms. The purpose of the actuators is to control how much the pendulum arms extend by so that they do not simply oscillate. However, I am struggling to organise my model and get the dynamics right, as I keep facing problems with the rigid transforms and the actuators going through the beams as opposed to beam constrained to them at the ends. I have attached my Simscape model here.

Answer 1

[Xiao Liu]

It seems like you were trying to model hydraulic/pneumatic cylinders to control the motion of the pendulum arms. If that is the case, the following example and documentations could be helpful.

• Hydraulic Interface - Dump Trailer with Hydraulic Cylinder - MATLAB & Simulink (mathworks.com)
• Backhoe - MATLAB & Simulink (mathworks.com)
• Creating Connection Frames - MATLAB & Simulink (mathworks.com)
• Working with Frames - MATLAB & Simulink (mathworks.com)
• Model a Closed-Loop Kinematic Chain - MATLAB & Simulink (mathworks.com)