CAD model robot matlab

Asked by Javier on 3 Jan 2013

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I'd like to plot the movement of a robot in a 3d model, and I need to associate some parts of the 3d model with my robot's articulation, but I don't know how to import this kind of files into matlab for move and rotate it and how can associate this variables with the parts of my 3d model.....

What kind of CAD files can I use to do this ?

Is there any script or something to work with this files ¿

Where can i find some information about this ¡¡¡¡¡

Thaks a lot ¡¡¡¡

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Answer by Davide Ferraro on 3 Jan 2013

You may consider using Simulink and SimMechanics with the CAD Import feature: http://www.mathworks.com/products/simmechanics/description3.html

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Answer by Javier on 3 Jan 2013

I can't use it because my version of matlab is older than the R2008b.... I use R2007b.......

That make me crazy, i don't know where can start to do it.... I'm very block now....

I see in some video of youtube that this it's posible: http://www.youtube.com/watch?v=fa7GwwA3498

In the minute 2, 3 .... I need to do something like this... but I'ts impossible to work with the model....

how ???

Thanks a lot ¡¡¡¡¡

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Answer by Davide Ferraro on 3 Jan 2013

Hi Javier,

yes, what you see in the video is possible, on the other side is not immediate. What the user has probably done is:

Get from the CAD model the STL file
Transform the object into a series of patches. Perhaps this can help: http://www.mathworks.it/matlabcentral/fileexchange/6678-stlread
Develop your GUI in order to interact with the plot (you will have to develop all the junction rules, rotation matrices, etc.)

If you get a chance the update to SimMechanics you may benefit of all the modeling features that may help you not only for visualization but also for system and control design through actual simulation.

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Answer by Javier on 3 Jan 2013

Edited by Javier on 3 Jan 2013

OK. But in the proyect of the signature I only have to interact with the plot... anymore.... nothing about control, sensors, etc.... only movement and tayectories.

Three questions:

1- For have the STL file from my .DXF, I have to export with any CAD program to get it ?

2- Thera are anything to plot images 3d from a .STL format ¿?

3- If I get this... how can interactue with it.... I explain me..... how can I associate the articulation of my robot in the .STL file with the articulations cariable of all my calcules to represent or animate the movemente of the robot... (I dont' know if I explain this correctly......)

Thanks a lot Davide ¡¡¡¡¡¡¡

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Answer by Davide Ferraro on 4 Jan 2013

Hi Javier,

what about this:

http://www.mathworks.com/matlabcentral/fileexchange/7118-readdxf-read-in-an-ascii-dxf-file

It seems that this code may get data directly from DXF files and should include a basic plot. I'm not a CAD expert but you may probably work directly from DXF instead of STL files. It seems that there are some converters on the web:

http://www.cfd-online.com/Forums/openfoam-meshing/79919-dxf-stl-converter.html

But I don't know much more on this. Regarding your third question you have to do all the kinematics analysis of your system. You need to identify which rotations are allowed and then implement this through code using rotation matrices. SimMechanics would have taken care of this but working with just MATLAB that should be programmed from the basics.

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