SoildWorks模型导入MATLAB（Simmechanics/URDF）

一、Simmechanics

到MALTAB官网下载simlink

 https://cn.mathworks.com/products/simmechanics/download_smlink.html

按照步骤安装，然后在 SolidWorks 工具-插件里勾选simscape multibody link选项

在工具栏可以看到simscape multibody link，选择export，选择第一个（不要选第二个first generation，因为MATLAB快不支持第一代了），完成以上步骤后就会自动生成xml文件了（中文名零件名可能会影响导出）。

 

二、SolidWorks生成URDF文件

URDF (Unified Robot Description File)

 

• Briefly URDF is used to describe a robot and run in ROS (Gazebo or Rviz)

• More details check the link http://wiki.ros.org/urdf

 

Generate URDF from SolidWorks

 

Download sw_urdf_exporter plugin

• • The address for plugin download http://wiki.ros.org/sw_urdf_exporter

 

Prepare The Assembly SolidWorks Model

• • Create the reference frames of each joints respectively according to the DH model
  • Create the reference axis of each joints respectively (basically along with each z axis)

Using Plugin to export URDF

• • tools ---> file ---> export as urdf

• • Define the link relationship

• • Input the parameters
• please input the joint limit otherwise there will have some errors
• Check the origin blocks for each joint since the MH has experienced the wrong transformation generated by the plugin

 

Conclusion

• Be caution about the direction of frame and axis
• Be caution about the frame transformation