You can import a CAD assembly model from Onshape® software
into the Simscape™
Multibody™ environment. The import process occurs
in two steps based on the
smimport functions. The
the assembly model in an intermediate XML conforming to the Simscape
smimport function converts the intermediate
XML file into a Simscape
Multibody version of the original Onshape model.
This example shows how to import an Onshape model of a
humanoid robot assembly. The model comprises various parts representing
the torso, head, and limbs of the robot. The parts connect through
that represent the various joints. The model is identical to that
shown in Import a URDF Humanoid Model.
Enter the following URL in your web browser to access the model (Onshape login
smexportonshape function to export
At the MATLAB® command prompt, navigate to a folder for which you have write privileges—for example:
Store the model URL in a MATLAB variable named
assemblyURL = 'https://cad.onshape.com/documents/5817806f96eae5105bfa5085/w/15ab3bfb58cacbf427d77ff3/e/181493813f84966648a8db1b';
Export the model and save the XML file name in a variable
exportedModel = smexportonshape(assemblyURL);
You may be prompted to log in to your Onshape account.
smexportonshape function generates the XML
multibody description file for this model and a set of STEP files
for the various part geometries.
smimport function to import the
XML multibody description file:
The function generates a Simscape Multibody model of the humanoid robot.
Build on the model, for example, by adding control systems to
actuate the various joints. For a controlled example, at the MATLAB command
the model to view a simple animation.