I'm using Simscape Multibody (2nd gen) to model linkage that has two inputs (linkage is made of revolute joints and one elastic linear joint - aka a linear spring). First the linkage is oriented (rotated) and then a lever is turned which extends the linear spring linkage. While the linkage is positioned all of the other joints must be free to rotate. Then the lever is given a prescribed rotation to recover the torque needed to compress the spring.
Here's the initial orientation:
And here it is after it has been positioned:
The problem I'm having is that if I want to include an applied motion to the lever (dark component at the top) it is applied from the start of the simulation, but I need the lever to be free util the linkage gets into position.
Let me know if you need more information/clarification.