A quick start guide using SketchyPhysics:
Use the latest 32bit version of Sketchup, even on a 64bit system: http://dl.trimble.com/sketchup/SketchUpMake-en.exe
Run Sketchup once to create the folders needed to install SketchyPhysics.
Drop theses files in the SketchUp Plugin folder C:\Users\Your_User_Name\AppData\Roaming\SketchUp\SketchUp 2016\SketchUp\Plugins: https://drive.google.com/file/d/0B2QcRBB299sSdFpuVUN2MUJwRlk/view?usp=sharing
Here is a simple pre-configured 3DOF SketchUp model: http://www.xsimulator.net/community/attachments/motionsimmodel-zip.27340/
Be aware that complex models may create issues for SketchyPhysics: http://www.xsimulator.net/community/threads/sketchup-sketchyphysics-simulation-faq.7864/#post-95619
Here are the interface and axis settings:


As @speedy points out the files in the 'Wackelstuhl.rb' file which is located in the C:\Users\Your_User_Name\AppData\Roaming\SketchUp\SketchUp 2015\SketchUp\Plugins folder has the 3rd axis inverted: http://www.xsimulator.net/community/threads/sketchup-sketchyphysics-simulation-faq.7864/#post-95596
The 'Wackelstuhl.rb' file can also be edited to provide a full 6DOF like this:


require 'socket.so'
socket = UDPSocket.new
socket.bind("127.0.0.1", 3157)
timer_id = UI.start_timer(0.01, true) {
message, sender = socket.recvfrom_nonblock(100)
message1, message2, message3, message4, message5, message6 = message.split(";")
$axis1 = message1.to_f / 256.0
$axis2 = message2.to_f / 256.0
$axis3 = message3.to_f / 256.0
$axis4 = message4.to_f / 256.0
$axis5 = message5.to_f / 256.0
$axis6 = message6.to_f / 256.0}
If you want to try a 6DOF SketchUp model @DocLove has kindly made his model available: http://www.xsimulator.net/community/attachments/stewart-platform-3-zip.27976/
Download the pre-configured SketchyPhysics_3Axis_ SimTools V2.0 axis preset: https://www.xsimulator.net/community/threads/sketchyphysics_3axis_-simtools-v2-0-axis-settings.9551/
Full documentation:
Sources for SketchUp connection 1.00
Thanks to @value1
http://www.xsimulator.net/community/marketplace/sources-for-sketchup-connection.57/
How to Connect SimTools to SketchUp
Thanks to @value1
http://www.xsimulator.net/connect-simtools-sketchup/