I've now optimized the q's, and although I haven't solved all the problems yet, it works perfectly in a test system. The optimization was much easier than I thought, thanks to the easy-to-understand example. Comparing it to a spring with low stiffness that can oscillate, the result is the same, but ...

Thank you for the quick response and the help! You understood the question correctly, it is a static analysis. Today, I tried the second solution. I assigned realistic masses and inertias to all bodies. I can run the system without assigning spring stiffness to the leaf spring. Even with small sprin...

I want to describe the shape of a leaf spring in a simplified system where a chassis is fixed to the ground and an axle with tires is constrained to always remain on the ground. Essentially, I have three points between which I want to mount the leaf spring. I create the leaf spring using rigid bodie...