CADモデルを変更し，Simscape Multibodyにも反映するには？

Export an Autodesk Inventor Robot Assembly Model，Import a Robotic Arm CAD Model

を見て，InventorのAssembly（CAD）からSimscape Multibody modelを生成する事ができました．また，自分で作成したAssembly（CAD）もSimscape Multibodyに生成する事ができました．

Simscape Multibodyにインポート済みのAssembly（CAD）に変更を加えた場合，既に生成されているSimscape Multibody modelにも変更内容を反映させるにはどうしたらよいでしょうか？また，その逆はできるのでしょうか？

Answer 1

[Yifeng Tang]

Taka San,

I tried to understand your question using Google Translator, and I believe you are wondering if your modification in CAD will be reflected in the Multibody model that has aleady be created. Let me know if I misunderstood your question

The quick answer is unfortunately no. Everytime a change is made in CAD assembly, you will need to run the conversion workflow again to generate a new Multibody model to reflect the changes.

If the change is small, however, it may be possible to update the Multibody model manually. For example, if you just changed the geometry of a part, while all coordinate definitions and joint positions remain the same, you may export the part as a STEP file and then in Multibody make the corresponding File Solid block point to the new STEP file. This can be beneficial after you have made substantial modification of the Multibody model, for example adding actuations.

Hope this helps.

[A]

Thank you for your answer.

I made a simple model referring to your answer, and checked whether the modifications made in CAD are reflected in the already made Simscape model.

First, I created a Ver1 model and imported it into Simscape.

In Ver2, I added a hole to the blue part and checked if it was reflected.

In Ver3, I changed the position of the holes in the joint part and checked if the changes were reflected.

In Ver4, I added a new part and checked if it was reflected.

As a result, the changes in Ver3 and 4 were not reflected.

I have an additional question.

・In Ver2-4, I exported the Assembly and updated the xml file. And I checked if the changes are reflected.

Please tell me how to export only the parts as STEP file.

・How can I add the actuator (Ver4)?

[Yifeng Tang]

Exporting STEP should be done in the CAD environment. I'd assume most CAD software would support export to this file format.

Once you have the STEP file, you need to "use" it in the Multibody model. Open the subsystem that contains the part you want to replace, for example "Part21_RIGID", you should see a File Solid block, double click and you'll have an interface to point to a different file. Give it a try. More details here: https://www.mathworks.com/help/releases/R2021a/physmod/sm/ref/filesolid.html

To add actuator, you need to enable actuation in the joint setting.

See more details here: https://www.mathworks.com/help/releases/R2021a/physmod/sm/ref/revolutejoint.html#bttq7al-3

You can also connect the joints to Simscape (1D) using the the 1D-3D interface: https://www.mathworks.com/help/releases/R2021a/physmod/sm/sm_examples_interface_block.html

[A]

Thank you for the answer. I would like to try it with your answer.