You can try using the structure shown in the attached model.
This one uses MapleSim Multibody visualization components to get a shape for 3d visualization. The motion is obtained by a dedicated motion driver, which enforces a trapezoidal motion profile. However, you can also replace that with an applied force component if you require.
If you need to go for better (more accurate) 3d visualization, you need to have the 3D model. At this point, you have two options.
1. Use MapleSim's CAD toolbox to automatically detect the different parts of the 3D file and import them into MapleSim with a click of a button while preserving the dimensions and assembly offsets of the parts from the original 3D assembly.
2. Manually export the different parts as component files and manually import them into MapleSim using the CAD visualization component, while making sure the dimensions are entered exactly as they were in the model. In this method, the dimensions (spaces, offsets etc.) of different 3d Parts must be implemented using MapleSim components (e.g., rigid arm) and their dimensions must be manually entered to be identical to those in the 3d model.
Hope this helps, let me know.