SoildWorks模型导入MATLAB（Simmechanics/URDF） MasterHand

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

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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

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- 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

【SoildWorks模型导入MATLAB（Simmechanics/URDF）】
Conclusion