Import a multibody model into the Simscape
Multibody environment. Use the
smimport function for this
task. You can import CAD, URDF, and Robotics System Toolbox models. Robotics
System Toolbox models require a product license to create. The function
parses the model, extracts the necessary data, and reconstructs the assembly
using Simscape Multibody blocks for its bodies, constraints, and
URDF models must be in URDF files and Robotics System Toolbox models in
rigidBodyTree objects. CAD models must be in a suitable
XML format. Use the
smexportonshape function to
export them as such from Onshape software. Use the Simscape Multibody Link
CAD plug-in for Autodesk®
Inventor®, Creo™ Parametric, or SolidWorks® models. The plug-in is free to use. See the Simscape
Multibody XML schema for an example of a custom export app
for models from other sources.
Overview of CAD translation with emphasis on workflow, tools, and generated models.
Download and install the Simscape Multibody Link plugin.
General steps for generating Simscape Multibody models from XML multibody description files.
smimport function to
generate a robotic arm model from a multibody description XML file.
Export a humanoid robot from Onshape software and import it into Simscape Multibody software.
Learn about the URDF specification popular in the robotics community and create a simple URDF model for later import into the Simscape Multibody environment.
Importing a URDF model. Mapping URDF entities to Simscape Multibody blocks. A simple URDF import example.