모델 가져오기
CAD 모델, URDF 모델 또는 Robotics System Toolbox™ 모델에서 Simscape Multibody 모델을 만들려면 smimport 함수를 사용하십시오. 이 함수는 모델을 구문 분석하여 필요한 데이터를 추출하고 바디, 제약 조건, 조인트에 대해 Simscape Multibody 블록을 사용하여 어셈블리를 복원합니다.
URDF 모델은 URDF 파일에 있어야 하고, Robotics System Toolbox 모델은 rigidBodyTree (Robotics System Toolbox) 객체에 있어야 하며, CAD 어셈블리는 적합한 XML 형식이어야 합니다. CAD 어셈블리를 XML 파일로 변환하려면 smexportonshape 함수 또는 Simscape Multibody Link 플러그인을 사용할 수 있습니다. Onshape® CAD 어셈블리로 변환하려면 smexportonshape 함수를 사용하십시오. Autodesk® Inventor®, PTC® Creo™ 또는 SolidWorks® 모델의 경우 Simscape Multibody Link 플러그인을 사용하십시오. 그 외 다른 소스에서 모델을 변환할 수도 있습니다. 자세한 내용은 Simscape Multibody XML 스키마를 참조하십시오.
함수
smexportonshape | Export a CAD assembly model from Onshape |
smimport | Import a CAD, URDF, or Robotics System Toolbox model |
도움말 항목
데스크탑 CAD 가져오기
- Install the Simscape Multibody Link Plugin
Download and install the Simscape Multibody Link plugin. - Convert CAD Assembly into Simscape Multibody Model
Workflows to convert a CAD assembly into a Simscape Multibody model. - Import a CAD Assembly Model
You import a CAD assembly model into Simscape™ Multibody™ software using thesmimportfunction.
Onshape CAD 가져오기
- Import an Onshape Humanoid Model
Export a humanoid robot from Onshape software and import it into Simscape Multibody software. - Onshape Import
Overview of CAD import from Onshape software with emphasis on import workflow, tools, and user authentication.
URDF 가져오기
- Import a URDF Humanoid Model
Export a humanoid robot from Onshape software and import it into Simscape Multibody software. - URDF Primer
Learn about the URDF specification popular in the robotics community and create a simple URDF model for later import into the Simscape Multibody environment. - Import URDF Models
Importing a URDF model. Mapping URDF entities to Simscape Multibody blocks. A simple URDF import example.
추천 예제
Four Bar Mechanism Imported from a CAD Assembly
Has been imported from a CAD assembly designed in SolidWorks® using the smimport command. The XML file "FourBar.xml" and the STL files obtained during export of the CAD assembly have been used to create this example.
Humanoid Robot
Has been imported from a URDF file using the smimport command. The URDF file "Humanoid.urdf" and the STEP files that visualize the robot parts were used to create this example. Motion actuation of the joints was manually added to the imported model to make the robot perform interesting movements.
Modeling a Robot Using STEP Files
Import geometry and inertia data using STEP files. The STEP file is a standard format used commonly for data exchange between CAD applications. The format can capture the complete geometry information of a part. Given the mass of the part and the volume distribution, Simscape™ Multibody™ can automatically compute the inertia properties of the part. Open the Solid block dialog boxes in the above model to see how the geometry and inertia parameters are configured to utilize STEP files exported from another application (CAD for example). This method of importing geometry and inertia information can be used for CAD systems that are not supported by Simscape Multibody Link. A valid STEP file from any source application can be imported by this method.
Stewart Platform with Controller
This model illustrates the CAD import workflow in Simscape™ Multibody™.
