Model Import

Import a multibody model into the Simscape™ Multibody™ environment

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 joints.

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.

Functions

`smexportonshape`	Export a CAD assembly model from Onshape cloud software
`smimport`	Import a CAD, URDF, or Robotics System Toolbox model

Topics

Desktop CAD Import

CAD Translation
Overview of CAD translation with emphasis on workflow, tools, and generated models.
Install the Simscape Multibody Link Plugin
Download and install the Simscape Multibody Link plugin.
Import a CAD Assembly Model
General steps for generating Simscape Multibody models from XML multibody description files.
Import a Robotic Arm CAD Model
Use the smimport function to generate a robotic arm model from a multibody description XML file.

Onshape CAD Import

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 Import

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.
URDF Import
Importing a URDF model. Mapping URDF entities to Simscape Multibody blocks. A simple URDF import example.

Featured Examples

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.

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Humanoid Robot

Has been imported from a URDF file using the smimport command. The URDF file "sm_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.

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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 a parts complete geometry information. 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 dialogs 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.

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