Create a Simulation in Simscape

Import assembly into MATLAB

To import an onshape model into MATLAB first use the matlab command: smexportonshape('insert onshape assembly url here') . This will create a xml file in MATLAB. Then use the command : smimport('insert created xml file'). A window will open that shows a block diagram representation of the assembly.

Create Initial Conditions

Change the initial conditions of entire system so gravity is acting on the assembly in the negative z-direction. Also adjust the internal mechanics of the revolute connections so they can act against gravity. Set up the actuation of one of the revolutes to accept a torque input.

Actuate Revolute

In the Library browser find the Torque Sensor, Torque Source, Simulink-PS Converter, Constant, and Rotational Reference blocks. Connect the blocks in a way that a constant torque is being applied to a torque sensor that reads into a revolute joint's torque input.

Run simulation

Update the model in the block diagram. A new window that includes a model diagram is created that should also be updated. Run the simulation using the green play button.

Setup and Read Results

Select a simscape block that you want to log simulation data for. Make sure the log data settings are on "Log Selected Blocks Only" . After running the simulation, choose the "Simscape Results" tab to look at the data collected for selected blocks.

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