Documentation

Export Robot Assembly from Autodesk Inventor Software

In this example, you export an Autodesk Inventor® CAD assembly that represents a robot arm. The export procedure generates one XML file and a set of STL files that you can import into SimMechanics™ to generate a new second-generation model.

The example begins with a procedure to export the CAD assembly. Information on the robot CAD files and CAD Export follows the export procedure. To import the robot assembly into a SimMechanics Second Generation model, see Import Robot Arm Model.

The following figure shows the robot CAD assembly you export in this example.

Example Requirements

To successfully complete this example, you must have:

  • Installed the latest SimMechanics Link version on your machine.

  • Completed the linking procedure for your Inventor® installation. The linking procedure adds a SimMechanics Link add-in to the Inventor installation.

Open Robot Assembly

Before you can export the robot assembly, you must load the assembly into Inventor.

  1. Open Inventor on your machine.

  2. Select File > Open

  3. Navigate to the file directory that contains the robot CAD files.

      Note:   The directory that contains the robot CAD files for the Autodesk Inventor platform is

      <MATLAB Root>\toolbox\physmod\smlink\smlinkdemos\...
      ...inventor\robot

  4. Select file robot.IAM.

  5. Click Open.

The CAD platform opens the robot assembly.

Export CAD Assembly

Once you successfully open the robot CAD assembly in your Inventor installation, you can export the assembly in second-generation format:

  1. In the Inventor toolbar, select Add-Ins > Export SimMechanics Second Generation.

  2. In the File name: field of the Save As dialog box, enter sm_robot and select a directory to export the files.

  3. Click Save.

      Note:   Large CAD assemblies require more time to complete the export process. Allow up to a few minutes for the export process to complete.

Check CAD Export Files

Confirm the following files exist in the export directory you specified:

  • XML file—Provides structure of model and parameters of parts.

  • STL files—Provide surface geometry of parts.

About the Example CAD Files

The CAD assembly files are present in your SimMechanics Link installation. You can access the files in the following directory:

<MATLAB Root>\matlab\toolbox\physmod\smlink\smlinkdemos\...
...inventor\robot
Substitute <MATLAB Root> with the root directory of your MATLAB® installation.

    Note:   If you are not sure what your MATLAB root directory is, at the MATLAB command line enter matlabroot. MATLAB returns the root directory for your installation.

The \inventor\robot directory contains a set of CAD files that define each CAD part and CAD assembly. Part file names contain the file extension .IPT. Assembly file names contain the extension .IAM.

The robot assembly contains nine parts and two assemblies: robot.IAM and grip.IAM. File robot.IAM models the robot root assembly. File grip.IAM models the robot grip subassembly.

The following table lists all files the example requires.

File NameType
robot.IAMAssembly
grip.IAM
wrist.IPTPart
upperarm.IPT
secondfingerlink.IPT
metacarples.IPT
firstfingerlinkL.IPT
forearm.IPT
firstfingerlink.IPT
fingertips.IPT
base.IPT

About CAD Export

The CAD export procedure generates one SimMechanics Import XML file and a set of STL files. The XML file contains the structure of the assembly and the parameters that define each part. The STL files define the 3-D geometry of each part. Once the export procedure is complete, you can import the SimMechanics Import XML file into SimMechanics. SimMechanics uses the file to automatically generate a new SimMechanics Second Generation model.

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