Export a PTC Creo Robot Assembly Model

In this example, you export a Creo™ (Pro/ENGINEER™) 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 CAD Assembly Model.

The following figure shows the robot CAD assembly that you export in this example.

Example Requirements

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 Creo installation. The linking procedure adds a Simscape Multibody Link add-on tool to the installation.

• Have access to the robot example files that accompany the Simscape Multibody Link installation.

Open the Assembly Model

Before you can export the robot assembly, you must load the assembly into Creo.

1. Open Creo on your machine.

2. Select File > Open.

3. Navigate to the file directory that contains the robot CAD files.

   Note

   The CAD files are in the RobotArmCreoSupport folder of the Robot Arm. To use the file, at the MATLAB command prompt enter:

   openExample("smlink/RobotArmCreoExample")

4. Select file robot.ASM.

5. Click Open.

The CAD platform opens the robot assembly.

Export the Model

Once you successfully open the robot CAD assembly in your Creo installation, you can export the assembly in format:

1. In the Creo toolbar, click Tools.

2. Select Simscape Multibody Link > Export and click Simscape Multibody to export in a format compatible with the latest Simscape Multibody technology.

3. In the File name field of the Select Folder dialog box, enter select a directory to export the files into.

   Note

   Do not enter a name in the File name field. The field should contain only a dot .

4. Click Open.

5. In the new dialog box, enter file name sm_robot and click the green arrow.

   Note

   Simscape Multibody Link generates a new XML multibody description file and a set of geometry files that you can import into a model.

Check the Exported Files

Confirm the following files exist in the export directory you specified:

 XML Multibody Description File

Name	Type	Description
sm_robot.xml	XML multibody description file	The XML file defines the structure of the CAD assembly. The file also contains the parameters required to model each part in the CAD assembly.

 Geometry Files

Note

In the Name column, <identifier> is a set of numeric and alphabetic characters that identifies each file.

Name	Type	Description
base_prt	Geometry files	Provide the 3-D surface shapes of the CAD parts
fingertips_prt
firstfingerlink_prt
firstfingerlinkl_prt
forearm_prt
metacarples_prt
secondfingerlink_prt
upperarm_prt
wrist_prt

About CAD Export

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 surface shapes of the CAD parts. Once the export procedure is complete, you can import the XML multibody description file into Simscape Multibody. Simscape Multibody uses the file to automatically generate a new Simscape Multibody model.