Advanced Simscape Multibody Mechanical Model

I need a high-fidelity mechanical model built in Simscape Multibody. The project calls for an advanced level of detail, so beyond the usual bodies, joints, and standard force elements, I will also require custom components or subsystem blocks where off-the-shelf parts won’t capture the real-world behaviour.

Here is what matters most to me:
• Accurate kinematics and dynamics that I can reuse for further control-system design and optimisation.
• Clean, well-organised Simulink/Simscape hierarchy so I can trace each degree of freedom quickly.
• Custom force or constraint blocks if the native library elements fall short.
• Clear documentation inside the model (block annotations and comments) plus a brief external note that explains key parameters and any user-defined functions.

Please keep parameters editable, avoid hard-coding numerical values, and name all signals meaningfully. I will test the model by running a few motion profiles and checking energy consistency, so your deliverable should include a short demo script that reproduces at least one typical use case.

If you have questions about specific geometry or boundary conditions, let me know early so we can lock them down before you start building.