SDFusion is an add-on for Fusion 360 that can automatically generate an SDF description of the model as well as export meshes or additional markers. Examples can be found here.

• Installation
• Usage
  • Links
  • Joints
  • Tendons
  • Configs

1. Clone or download the SDFusion repository git clone https://github.com/Roboy/SDFusion.git
2. Open Scripts and Add-Ins dialog in Fusion 360 by pressing Shift+S
3. Click on the Add-Ins tab and press the green plus icon on the top
4. Navigate to the SDFusion folder and select it. You should be able to run/debug the add-in from the Scripts and Add-Ins dialog now:

SDFusion requires all the links to be defined as rigid groups in Fusion 360. The script will automatically:

• create and export an STL mesh of the link
• calculate intertia and center of mass
• generate a model.sdf file with all rigid groups as links

Rigid group names have to follow the naming convetion: EXPORT_link_name. The rigid group has to contain all components (including children) that consitute the link.

In order to export a joint, it has to be

• defined between components that belong to different rigid groups
• called EXPORT_joint_name

When creating a joint in Fusion 360, make sure you select the child first and then the parent. Currently, fixed, prismatic, revolute, and ball joint types are supported.

SDFusion allows to export cable-driven robot models with multiple attachment points (via-points). The naming scheme defined for the viapoints is the following: VP_motornumber_EXPORT_linkname_viapointnumber (e.g. VP_motor0_EXPORT_base_0). You can either add them manually as construction points in Fusion 360 or use ViaPoints tab from the plugin.

Here, you have to specify the motor number and the link name. Press Select and the viapont number will increment automatically as you click on circular edges in your design. The newly created attachement point are listed under the Construction in the Fusion 360 browser.

Refer to CARDSflow to learn about possible options to control your cable robot.