Jumping leg on sliding rail simulation

Hello, I'm working on a hexagonal hexapod robot and my goal is to make it hop. I need some simulation tools, and I was thinking that maybe SimMechanics can help me: I'd like to simulate a single 2 joints leg raising a mass. I would model the foot contact with a Hunt-Crossley non linear spring-damper model.

Having never used SimMechanics, I wonder if:

• - it's possible to simulate this kind of leg constrained to slide on a rail system (I'm only interested in the vertical motion of the mass; imagine it like a sort of slider-crank mechanism)
• - it's possible to have planar simulations
• - it's possible to emulate the elastic transmission, that is to say the series elastic actuation I have on the real robot, essential for the jump task; even if I guess this can be also realized by modelling a torsional spring in the knee joint.

Thanks in advance for any helpful tip; this would help me to save time and decide if SimMechanics is the right tool or not.

Marcello