We used body blocks and joint blocks to model the mechanism. We also employed sensors to record data and actuators to define the motion as we want. Here is our Simulink model for one side of our robot.
Model animation and plots are some useful features that we have implemented. The plot shows the required torque for one side of robot during one cycle of crank rotation.
The important part of our Simulink simulation was defining the link points (giving the coordinates) based on the CAD model. Ground points were defined with absolute position while for the links, relative position was employed. However one deficiency is that the friction is not modeled in this simulation. Although there was friction blocks, it was hard to find a good model for the friction of our mechanisms.