I have used https://openmodelica.org/. It's another one of those "invest substantial time understanding what they are doing, and you will likely be rewarded." Simple things are simple, but I found it took longer than I would have like to bang out e.g. a PID algo with a particular motor and load. If you want to try this, buy the book, and follow it to the end. Then keep learning, as you build more and more... - Source: Hacker News / almost 1 year ago

If the robot simulation doesn't need to pick up stuff or take into account changing contacts with other objects you can use Modelica's Multibody library which you can run for free with OpenModelica. This will be more accurate than other simulators because modelica can analytically solve the dynamics equations. You don't need to write them either just to connect blocks for various components. Source: about 1 year ago

OpenModelica consists of a combination of graphical and written components to simulate dynamic systems. I don’t know what control system feature set might be available. AMESIM is a more extensive paid tool that operates on the same Modelica modeling language. IIRC, at least Simuscape operates on Modelica under the hood. Source: about 1 year ago

It shouldn't be too difficult to model in Modelica. You could approximate the pendula in 1D with masses on springs or just use Modelica's multibody library. Source: over 1 year ago

Modelica is a good start, at the very least in showing how to break a complex machine with many physical phenomena into components. Modeling accuracy and ease are generally opposed. Https://openmodelica.org/. Source: almost 2 years ago

For what it's worth I did find an online structural analysis tool that seems simple enough to use and affordable called SkyCiv that I might try, but from your suggestions and the small amount of research I did since, I think I might feel more comfortable doing the calculations by hand and maybe compare my results to the software simulation as confirmation. Source: about 2 years ago

Https://skyciv.com Skyciv is a beautiful tool really worth it for students and I believe it is reasonably within your budget. Source: about 2 years ago

I've found SkyCiv which looks like it has the right level of functionality. However it's all online and if the company ever went under we'd lose the ability to access and run the models. Source: over 2 years ago

You should checkout skyciv its 14$ a month no contract for students I checked it out for a month and it was pretty cool has alot of the stuff you mentioned too. Source: almost 3 years ago