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)
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Briefly URDF is used to describe a robot and run in ROS (Gazebo or Rviz)
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More details check the link http://wiki.ros.org/urdf
Generate URDF from SolidWorks
Download sw_urdf_exporter plugin
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- The address for plugin download http://wiki.ros.org/sw_urdf_exporter
Prepare The Assembly SolidWorks Model
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- 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
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- tools ---> file ---> export as urdf
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- Define the link relationship
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- 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