Someone I spoke to the other day in VA said he had started to develop a simulator for SOLIDWORKS and asked if I had used it or had looked at it yet. He was a mentor from team 190 and he had a presentation for this at Championships this year. Contact team 190 for information because I believe it has been posted before. I cannot find it in my searches.
http://users.wpi.edu/~first/2012/index.html