In this example, you export a SolidWorks™ CAD assembly that represents a robot arm. The export procedure generates one XML file and a set of geometry files that you can import into Simscape™ Multibody™ to generate a new 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 Simscape Multibody model, see Import a Robotic Arm CAD Model.
The following figure shows the robot CAD assembly you export in this example.
To successfully complete this example, you must meet the following requirements:
Have the latest version of Simscape Multibody Link installed on your machine.
Have completed the linking procedure for your SolidWorks installation. The linking procedure adds a Simscape Multibody Link add-in to the SolidWorks installation.
Have access to the robot example files that accompany the Simscape Multibody Link installation. See Export a SolidWorks Robot Assembly Model.
Before you can export the robot assembly, you must load the assembly into SolidWorks.
Open SolidWorks on your machine.
Select File > Open
Navigate to the file directory that contains the robot CAD files.
The directory that contains the robot CAD files for the SolidWorks platform is
<MATLAB Root>\toolbox\physmod\smlink\smlinkdemos\... ...solidworks\robot
The CAD platform opens the robot assembly.
Once you successfully open the robot CAD assembly in your SolidWorks installation, you can export the assembly in a format compatible with the latest Simscape Multibody technology:
On the SolidWorks tool bar, select Simscape Multibody Link > Export > Simscape Multibody. In certain SolidWorks versions, this option may appear under the Tools menu.
In the File name field of the Save
As dialog box, enter
sm_robot and select
a directory to export the files.
Large CAD assemblies require more time to complete the export process. Allow up to a few minutes for the export process to complete.
Confirm the following files exist in the specified export directory:
XML file — provides structure of model and parameters of parts.
Geometry files — provides surface geometry of parts.
The CAD assembly files are present in your Simscape Multibody Link installation. You can access the files in the following directory:
<MATLAB Root>\matlab\toolbox\physmod\smlink\smlinkdemos\... ...solidworks\robot
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.
\robot directory contains a set of CAD
files that define each CAD part and CAD assembly. Part file names
contain the file extension .SLDPRT. Assembly file names contain the
extension .SLDASM. A drawing file with extension .SLDDRW contains
robot arm dimensions.
The robot assembly contains nine parts and two assemblies: robot.SLDASM and grip.SLDASM. File robot.SLDASM models the robot root assembly. File grip.SLDASM models the robot grip subassembly.
The following table lists all files the example requires.
The CAD export procedure generates one XML multibody description file and a set of geometry files. The XML file contains the structure of the assembly and the parameters that define each part. The geometry files define the 3-D geometry of each part. Once the export procedure is complete, you can import the XML multibody description file into Simscape Multibody software. Simscape Multibody uses the file to automatically generate a new Simscape Multibody model.