Rsewiki - User contributions [en]

Flexbot design

2017-09-07T07:22:01Z

S123294: /* Open items (to-do list) */

Back to [[Flexbot]] main page

==Design overview hardware==
Each "leg" of the flexbot consists of 4 actuators.
* An angled DC motor to control the wheel.
* Two linear actuators to control the motion of the robot's body.
* A linear actuator to adjust heading angle on the wheel.
Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from.
Each leg is split up in two parts which are presented as the [[#Ankle hardware design|ankle configuration]] and the [[#Knee hardware design|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design|here]].

A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.

==Ankle hardware design==
The ankle configuration currently includes:
* Angled DC motor to run the wheel - model IG42-CRGM
* SyRen 10 motor driver
* Teensy 3.2 μ-processor board
* Pololu 24V to 5V voltage regulator - model D24V22F5
* Firgelli L12-50-210-12-I linear actuator
* 14-bit rotary encoder - model AS5048A

The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.

In addition to the schematic shown it can be mentioned that a ferrite core has been introduced on the power supply wires for the DC motor. This reduces EMI which was found to greatly interfere with the encoder signals from the motor.

[[File:Teensy Wheel Configuration.png|970px]]

Figure 1: Schematic for the ankle configuration for the Flexbot. (Click on picture for full resolution)

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished (or started) yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the ankle. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* The rotary encoder has been wired and tested. Connections in the schematic from the Teensy to the encoder are missing. The encoder still needs to be fixed to correct position on the wheel configuration and magnets needs to be attached to bolt fastening the spring dampener.
* A Pololu 24V to 12V needs to implemented on the matrix board to supply the small linear actuator. They are of model D24V22F12 (link to product is on git) and should be ordered but have not been received.
* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.
* When the final hardware configuration for the ankle has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked(or made).

==Knee hardware design==
The knee configuration currently includes:
* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66
* Cytron 10A DC Motor Driver - model RB-Cyt-132
* MPU to obtain tilt - model MPU-9250/6500
* Teensy 3.5 μ-processor board

The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here] - contact JCA for editorial access.

[[File:Flexbot Knee Configuration.png|1000px]]

Figure 2: Schematic for the knee configuration for the Flexbot. (Click on picture for full resolution)

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the knee. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* A Pololu 24V to 5V needs to inserted onto the matrix board. Wiring has been made, only thing missing is the component and to solder pin headers onto the component. They are of model D24V22F5 (link to product is on git) and should be ordered but have not been received.
* A second motor driver needs to be fitted to the knee. Wiring has been made and the driver is on stock and are found in one of the two boxes containing parts for the project.
* The interface for linear actuator 1 supports the linear actuator with potentiometer feedback. This should at some point be changed to the ordered actuators with hall sensor feedback and the configuration on the matrix should be changed to reflect this as well (should be same as linear actuator 2).
* The matrix board needs to support a second MPU. It has not been investigated whether or not it can be connected to the same bus by changing the address. Maybe it would be easier to simply connect to its own I2C bus. Teensy 3.5 holds 3 I2C interfaces and currently uses 1.
* A second linear actuator should be connected to the knee. This relies on the mechanics to be finished.
* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.
* When the final hardware configuration for the knee has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked (or made).
* The encoder counts for the DC motor at the ankle is still giving issues after ferrit cores.

==Body hardware design==
The design of the body hardware has not been started yet. A few ideas have been discussed bot nothing final has been decided upon. The body hardware design will first be relevant in mid/late autumn.
A few discussed ideas of what the body hardware design should include are listed below:
* An Intel Nuc i7 configuration: https://www.intel.com/content/www/us/en/products/boards-kits/nuc/kits.html
* A USB hub or at least enough connections to connect all Teensy μ-processor boards. This will sum up to 8 μ-processor boards (2 on each leg).
* A main power supply. Should be 24V obtained from LiPo batteries or other mobile source.

Flexbot software

2017-09-07T07:20:11Z

S123294: /* Knee software */

Back to [[Flexbot]] main page
=Change request (issues)=
Amend when a problem is noted, and delete when corrected.
* No items yet - yay!

=Open items (to-do)=
The software can divided into three parts; [[#Ankle software|ankle]], [[#Knee software|knee]] and [[#Body software|body]]. Each section holds the open items for the specified Teensy board.

When starting on a new item, the developer should create a branch of the master in order maintain a current working version of the software on the master branch. When an item is completed and well tested, the developer should merge the branch into the master branch. It is the developers responsibility to ensure everything on the master branch works as it should after merging. After completing an item, please delete it from the list below and remove the branch on git (both locally and remote). The history of the branch will be not be deleted.

==Ankle software==
This list specifies the to do list for the ankle software.

* Port data_logger, eeconfig, command (terminal interface) and control from knee code to obtain a matching interface.
* Implement support for rotary encoder.
* Add a modular controller setup. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.

==Knee software==
* Add a more modular controller setup. As of now only a P-controller is available. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.
* Implement a second linear actuator in code. Most variable are already arrays of 2 to hold values for both actuators, but complete implementation is missing.
* Implement a second MPU. Either on same bus as the one already existing or to a new wire.
* Add support for the linear actuators with hall sensor feedback. Currently the linear actuator has potentiometer feedback, but this will be changed in the future.
* Losing IMU i2c communication at knee

==Body software==
Not started yet. Will wait till mid/late autumn.

To do

2017-09-07T07:09:48Z

S123294: /* Software */

Flexbot design to do list

Possible improvements, design ideas and other suggestions.

Back to [[Flexbot]] main page

=Mechanics=

* Design of legs is too wide - move support tubes (much) closer
* turn actuator motor inwards

== Foot ==

Assembly order:
* Fix connection (motor-to-axle-mount) to wheel axle with 2x4mm short screws, before inserting into alu wheel-stear-mount
* Alu wheel-steer-mount (with 4 bearings), insert axle assembly (from above) and secure it with wheel-nut - and fasten with pinol
* Insert 5-6mm cylinder peace into turn bearings in wheel-steer-mount, and mount into steer-mount (non turning part) with 2x5mm screws and self-locking nuts. Make sure turn motion is OK.
* Assemble motor and motor-mount block with 4x3mm screws into motor - make sure that motor in upright orientation and motor-mount matches wheel-steer-mount orientation.
* Insert motor and motor-mount assembly into axle and fixate it to wheel-steer-mount with 2x3mm 50mm long screws and self locking nuts.
* Tighten motor axle into motor-to-axle-block with 1x6mm pinol
* Insert 2x long self-cutting screws into steer-mount (a sort of reinforcement of plastic block)
* Mount foot-base (big block) to steer-mount with 4x long self cutting screws

* for steering mount blocks on motor (with strip) and on foot-base (4xsmall self cutting screws)
* Mount Firgelli actuator for steering actuation with 2x 4mm 25-35mm long screws and self locking nuts.

====Motor and turn part====

(first number is priority, 1. is must, 2. is can maybe do without, 3. would be nice)

* 2. Turn (king-pin) bolt should be 5mm, and with bigger cone for the screw.
* 3. Cut-out for motor (on face with motor axle), for raised ring on motor, should be bigger in diameter.

====Big block====
* 2. Cut-out for teensy-print should allow more space for cable plugs.
* 2. Make hole for motor driver coolong.
* 3. Space (width) for shock absorber mount should be smaller.
* 3. Width of block could be smaller (as knee 10cm).
* 3. Hole for PCB should be better - do not fit into slide (maybe 6cm).
* 2. use higher temperature for orange PETG plastic print (165 degree, not 162)

====Steering====
* 1. Mount block on foot do not allow full actuator movement
* 2. Mount of Firgelli too sloppy, maybe a plastic adaptor in each end?
* 1. Mount block in foot end has too small screws, and may be too week.

==Knee==

==Hip==

==Main body==

=Electronics=

==Power==

* Main power 6-cell LiPo nominel 22.2V (between 20V and 28.5V)

==Teensy==

* Teensy 3.2 and Teensy 3.5 for (first level) real time control loops

==Main PC==

* Look at a Intel Nuc

==Sensors==

=Matlab Model=

=Software=

==Communication==
* Losing IMU i2c communication at knee

==Control==

To do

2017-09-07T06:16:25Z

S123294: /* Motor and turn part */

Syren 10A motorcontroller

2017-08-09T09:37:43Z

S123294:

This section covers the ins and outs of using the Syren 10A motor controller together with the teensy. The full documentation can be downloaded here [https://www.dimensionengineering.com/datasheets/SyRen10-25.pdf Syren10A documentation].

The motor-controller allows for different operation modes, on the flexbot the "'''Analog One-direction with forward/reverse select on S2'''" mode is used. To select this mode check and adjust the switches accordingly

[[File:Syren10Aswitches.png|300px]]

The motor-controller needs an analog reference voltage to determine motor speed, and not a PWM signal like e.g. the linear actuators. To control the motor with a reference PWM signal from the teensy the PWM signal needs to be filtered to an analog voltage. The documentation shows a diagram to achieve this functionality, both for fast filtering and smooth filtering

[[File:pwmfiltering.png|600px]]

File:Pwmfiltering.png

2017-08-09T09:36:00Z

S123294:

File:Syren10Aswitches.png

2017-08-09T09:31:04Z

S123294:

Syren 10A motorcontroller

2017-08-09T09:30:52Z

S123294: Created page with "This section covers the ins and outs of using the Syren 10A motor controller together with the teensy. The motorcontroller allows for different operation modes, on the flexbo..."

This section covers the ins and outs of using the Syren 10A motor controller together with the teensy.

The motorcontroller allows for different operation modes, on the flexbot the "'''Analog One-direction with forward/reverse select on S2'''" mode is used. To select this mode check and adjust the switches accordingly

Flexbot

2017-08-09T09:26:51Z

S123294: /* Introduction */

=Introduction=

[[flexbot_design|Hardware design overview]] and open items (to-do).

[[To do | Mechanical design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[flexbot_software | Software to do list]] - change request and to do (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]]

[[Syren 10A motorcontroller| Syren 10A motorcontroller]]

[[File:Flexbot-rendered-115678 gi tonemapped reinhard05.png]]


=Current state of Flexbot=
This section presents a '''very''' short summary of the current state of Flexbot. When a new change (of relevance i.e. no minors) is made, please update this section by adding a new line on top of the existing.

* 23/07 2017: The mechanics from wheel to knee is finished. Electronics including external sensors have been mounted. Software supports basic functionality for interfacing, control, test and logging of each actuator (wheel, heading, height) and sensor.

=Software terminal interface=
Each Teensy can be interfaced separately via USB communication. Simply plug in a USB cable, open a serial communication in Putty, Arduino or whatever you prefer and type
help
This should return a menu with all options for the connected device. This should include:
* Changing controller and reference parameters
* Starting and stopping
* Printout of sensor data (to be used for debugging)
* Adding and removing items for logging
* Logging features (start logging, log interval and retrieve log in a MATLAB compatible format)
* Save and load to and from EEPROM (holds logging parameters and controller setting)

Flexbot

2017-08-09T09:23:11Z

S123294:

=Introduction=

[[flexbot_design|Hardware design overview]] and open items (to-do).

[[To do | Mechanical design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[flexbot_software | Software to do list]] - change request and to do (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]]

[[File:Flexbot-rendered-115678 gi tonemapped reinhard05.png]]


=Current state of Flexbot=
This section presents a '''very''' short summary of the current state of Flexbot. When a new change (of relevance i.e. no minors) is made, please update this section by adding a new line on top of the existing.

* 23/07 2017: The mechanics from wheel to knee is finished. Electronics including external sensors have been mounted. Software supports basic functionality for interfacing, control, test and logging of each actuator (wheel, heading, height) and sensor.

=Software terminal interface=
Each Teensy can be interfaced separately via USB communication. Simply plug in a USB cable, open a serial communication in Putty, Arduino or whatever you prefer and type
help
This should return a menu with all options for the connected device. This should include:
* Changing controller and reference parameters
* Starting and stopping
* Printout of sensor data (to be used for debugging)
* Adding and removing items for logging
* Logging features (start logging, log interval and retrieve log in a MATLAB compatible format)
* Save and load to and from EEPROM (holds logging parameters and controller setting)

File:ModelOnshape-g10.png

2017-08-09T09:22:28Z

S123294:

File:ModelOnshape-g9.png

2017-08-09T09:22:16Z

S123294:

File:ModelOnshape-g8.png

2017-08-09T09:22:03Z

S123294:

File:ModelOnshape-g7.png

2017-08-09T09:21:51Z

S123294:

File:ModelOnshape-g6.png

2017-08-09T09:21:33Z

S123294:

File:ModelOnshape-g5.png

2017-08-09T09:21:11Z

S123294:

File:ModelOnshape-g4.png

2017-08-09T09:20:57Z

S123294:

Importing models from OnShape

2017-08-09T09:20:35Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]. This functionality helps importing mechanical 3D objects for further analysis in a MATLAB/Simscape environment. This page will give an overview and a guide on how to import objects from OnShape to MATLAB.

For a quick overview of the two commands necessary to import from Onshape to Simscape can be seen here:

smexportonshape("link")
smimport(".xml")

The mechanical joints in OnShape and the joints in Simscape have different names but share attributes. An overview of OnShape joints and Simscape joints can be seen in the image below.

[[File:Multibody-onshape-blocks.png|1200px]]

In this guide the following model will be used. The 3D model can be accessed through here [https://cad.onshape.com/documents/bb8e51aedb9eed20ec779f03/w/1eb7a271d7114eaf981baf00/e/d5f12c27fed4289aae301e4c]. The model consists of multiple different joints. We will see how the in-built OnShape functions will automatically register and convert the joints in to the Simscape environment.

[[File:ModelOnshape-g1.png|700px]]

In the right corner of the OnShape editing window a cube to control our 3D view can be seen. In the navigation bar at the top part of the screen two buttons are available [App Store] [Share]. Press the share button to find the link necessary for importing the model in to Simscape.

[[File:ModelOnshape-g2.png|400px]]

A new window will appear. In this window 4 menus are available [Individuals] [Public] [Application] [Link]. Press the link button and copy the ''Document link:'' to your clipboard.

[[File:ModelOnshape-g4.png|400px]]

Access your MATLAB terminal and run the following command to import the OnShape model to MATLAB:

[[File:ModelOnshape-g5.png|400px]]

After running the code, a window should appear asking for OnShape credentials. Type in your OnShape account credentials. The import will happen as soon as your account is verified with OnShape.

[[File:ModelOnshape-g6.png|400px]]

After verifying and importing the 3D model you should see 4 new files in your workspace. The files are the individual 3D objects with the .step file-extension and a file with a .xml file-extension describing how the individual models are assembled, their physical and material properties. The number of .step files will change with different projects, but there should always be 1 .xml file generated for every time you import a project.

[[File:ModelOnshape-g7.png|400px]]

The last step is to run the following command to translate the .xml file to a Simscape object:

[[File:ModelOnshape-g8.png|400px]]

The command automatically open a new Simulink window with the blocks from OnShape translated to Simscape

[[File:ModelOnshape-g9.png|400px]]

Opening the Mechanics Explorer window will reveal the model in Simulink's own 3D object viewer. The explorer together with the Simscape block diagram can be used to verify that the model was imported correctly. This concludes the OnShape to Simscape import section.

[[File:ModelOnshape-g10.png|400px]]

Importing models from OnShape

2017-08-09T09:20:07Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]. This functionality helps importing mechanical 3D objects for further analysis in a MATLAB/Simscape environment. This page will give an overview and a guide on how to import objects from OnShape to MATLAB.

For a quick overview of the two commands necessary to import from Onshape to Simscape can be seen here:

smexportonshape("link")
smimport(".xml")

The mechanical joints in OnShape and the joints in Simscape have different names but share attributes. An overview of OnShape joints and Simscape joints can be seen in the image below.

[[File:Multibody-onshape-blocks.png|1200px]]

In this guide the following model will be used. The 3D model can be accessed through here [https://cad.onshape.com/documents/bb8e51aedb9eed20ec779f03/w/1eb7a271d7114eaf981baf00/e/d5f12c27fed4289aae301e4c]. The model consists of multiple different joints. We will see how the in-built OnShape functions will automatically register and convert the joints in to the Simscape environment.

[[File:ModelOnshape-g1.png|700px]]

In the right corner of the OnShape editing window a cube to control our 3D view can be seen. In the navigation bar at the top part of the screen two buttons are available [App Store] [Share]. Press the share button to find the link necessary for importing the model in to Simscape.

[[File:ModelOnshape-g2.png|300px]]

A new window will appear. In this window 4 menus are available [Individuals] [Public] [Application] [Link]. Press the link button and copy the ''Document link:'' to your clipboard.

[[File:ModelOnshape-g4.png|700px]]

Access your MATLAB terminal and run the following command to import the OnShape model to MATLAB:

[[File:ModelOnshape-g5.png|700px]]

After running the code, a window should appear asking for OnShape credentials. Type in your OnShape account credentials. The import will happen as soon as your account is verified with OnShape.

[[File:ModelOnshape-g6.png|700px]]

After verifying and importing the 3D model you should see 4 new files in your workspace. The files are the individual 3D objects with the .step file-extension and a file with a .xml file-extension describing how the individual models are assembled, their physical and material properties. The number of .step files will change with different projects, but there should always be 1 .xml file generated for every time you import a project.

[[File:ModelOnshape-g7.png|700px]]

The last step is to run the following command to translate the .xml file to a Simscape object:

[[File:ModelOnshape-g8.png|700px]]

The command automatically open a new Simulink window with the blocks from OnShape translated to Simscape

[[File:ModelOnshape-g9.png|700px]]

Opening the Mechanics Explorer window will reveal the model in Simulink's own 3D object viewer. The explorer together with the Simscape block diagram can be used to verify that the model was imported correctly. This concludes the OnShape to Simscape import section.

[[File:ModelOnshape-g10.png|700px]]

Importing models from OnShape

2017-08-09T09:19:53Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]. This functionality helps importing mechanical 3D objects for further analysis in a MATLAB/Simscape environment. This page will give an overview and a guide on how to import objects from OnShape to MATLAB.

For a quick overview of the two commands necessary to import from Onshape to Simscape can be seen here:

smexportonshape("link")
smimport(".xml")

The mechanical joints in OnShape and the joints in Simscape have different names but share attributes. An overview of OnShape joints and Simscape joints can be seen in the image below.

[[File:Multibody-onshape-blocks.png|1200px]]

In this guide the following model will be used. The 3D model can be accessed through here [https://cad.onshape.com/documents/bb8e51aedb9eed20ec779f03/w/1eb7a271d7114eaf981baf00/e/d5f12c27fed4289aae301e4c]. The model consists of multiple different joints. We will see how the in-built OnShape functions will automatically register and convert the joints in to the Simscape environment.

[[File:ModelOnshape-g1.png|700px]]

In the right corner of the OnShape editing window a cube to control our 3D view can be seen. In the navigation bar at the top part of the screen two buttons are available [App Store] [Share]. Press the share button to find the link necessary for importing the model in to Simscape.

[[File:ModelOnshape-g2.png|700px]]

A new window will appear. In this window 4 menus are available [Individuals] [Public] [Application] [Link]. Press the link button and copy the ''Document link:'' to your clipboard.

[[File:ModelOnshape-g4.png|700px]]

Access your MATLAB terminal and run the following command to import the OnShape model to MATLAB:

[[File:ModelOnshape-g5.png|700px]]

After running the code, a window should appear asking for OnShape credentials. Type in your OnShape account credentials. The import will happen as soon as your account is verified with OnShape.

[[File:ModelOnshape-g6.png|700px]]

After verifying and importing the 3D model you should see 4 new files in your workspace. The files are the individual 3D objects with the .step file-extension and a file with a .xml file-extension describing how the individual models are assembled, their physical and material properties. The number of .step files will change with different projects, but there should always be 1 .xml file generated for every time you import a project.

[[File:ModelOnshape-g7.png|700px]]

The last step is to run the following command to translate the .xml file to a Simscape object:

[[File:ModelOnshape-g8.png|700px]]

The command automatically open a new Simulink window with the blocks from OnShape translated to Simscape

[[File:ModelOnshape-g9.png|700px]]

Opening the Mechanics Explorer window will reveal the model in Simulink's own 3D object viewer. The explorer together with the Simscape block diagram can be used to verify that the model was imported correctly. This concludes the OnShape to Simscape import section.

[[File:ModelOnshape-g10.png|700px]]

File:ModelOnshape-g2.png

2017-08-09T09:16:09Z

S123294:

Importing models from OnShape

2017-07-23T13:17:05Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]. This functionality helps importing mechanical 3D objects for further analysis in a MATLAB/Simscape environment. This page will give an overview and a guide on how to import objects from OnShape to MATLAB.

For a quick overview of the two commands necessary to import from Onshape to Simscape can be seen here:

smexportonshape("link")
smimport(".xml")

The mechanical joints in OnShape and the joints in Simscape have different names but share attributes. An overview of OnShape joints and Simscape joints can be seen in the image below.

[[File:Multibody-onshape-blocks.png|1200px]]

In this guide the following model will be used. The 3D model can be accessed through here [https://cad.onshape.com/documents/bb8e51aedb9eed20ec779f03/w/1eb7a271d7114eaf981baf00/e/d5f12c27fed4289aae301e4c]. The model consists of multiple different joints. We will see how the in-built OnShape functions will automatically register and convert the joints in to the Simscape environment.

[[File:ModelOnshape-g1.png|700px]]

In the right corner of the OnShape editing window a cube to control our 3D view can be seen. In the navigation bar at the top part of the screen two buttons are available [App Store] [Share]. Press the share button to find the link necessary for importing the model in to Simscape.

placeholder -- navigate to share button

A new window will appear. In this window 4 menus are available [Individuals] [Public] [Application] [Link]. Press the link button and copy the ''Document link:'' to your clipboard.

placeholder -- navigate to link tab window

Access your MATLAB terminal and run the following command to import the OnShape model to MATLAB:

placeholder -- smexportonshape("link you copied in the previous step")

After running the code, a window should appear asking for OnShape credentials. Type in your OnShape account credentials. The import will happen as soon as your account is verified with OnShape.

placeholder -- Onshape login window

After verifying and importing the 3D model you should see 4 new files in your workspace. The files are the individual 3D objects with the .step file-extension and a file with a .xml file-extension describing how the individual models are assembled, their physical and material properties. The number of .step files will change with different projects, but there should always be 1 .xml file generated for every time you import a project.

placeholder -- OnShape generated files

The last step is to run the following command to translate the .xml file to a Simscape object:

placeholder -- smimport() command

The command automatically open a new Simulink window with the blocks from OnShape translated to Simscape

placholder -- block diagram

Opening the Mechanics Explorer window will reveal the model in Simulink's own 3D object viewer. The explorer together with the Simscape block diagram can be used to verify that the model was imported correctly. This concludes the OnShape to Simscape import section.

File:ModelOnshape-g1.png

2017-07-23T12:13:21Z

S123294: 3D model used in guide about importing models to Simscape

3D model used in guide about importing models to Simscape

Importing models from OnShape

2017-07-02T21:39:27Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]

Overview of Simscape Multibody joints and the OnShape equivalent joints.
[[http://rsewiki.elektro.dtu.dk/images/0/0d/Multibody-onshape-blocks.png]]

Importing models from OnShape

2017-07-02T21:38:46Z

S123294:

Importing models from OnShape

2017-07-02T21:35:33Z

S123294:

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]

Overview of Simscape Multibody joints and the OnShape equivalent joints.
[http://rsewiki.elektro.dtu.dk/images/0/0d/Multibody-onshape-blocks.png]

File:Multibody-onshape-blocks.png

2017-07-02T21:33:03Z

S123294: Simscape multibody joints and OnShape equivalet

Simscape multibody joints and OnShape equivalet

Importing models from OnShape

2017-07-02T21:06:21Z

S123294: Created page with "MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]"

MATLAB 2017a+ includes functions to import 3D models from the browser based CAD modelling tool OnShape[https://www.onshape.com/]

Flexbot

2017-07-02T20:54:45Z

S123294: /* Introduction */

=Introduction=

[[flexbot_design|Design overview]] can be found here.

[[To do | Design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]] being written.

[[File:underben-screenshot.png]]