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Backhoe Model in Simscape

version (7.09 MB) by Steve Miller
Backhoe model, including hydraulic actuators for arm and bucket tilt, and multibody dynamics.


Updated 17 Apr 2021

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This file contains a model of a backhoe arm built using Simscape. The hydraulic actuation system, including pump, valves, and hydraulic cylinders, actuates the arm and bucket. The three-dimensional mechanical system is modeled, including the arm joints and bucket linkage. Examples in this submission show how to model custom hydraulic valves, tune controller and physical system parameters, and generate C code from the entire model.

Please read the file to get started.

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Try this free, hands-on tutorial to learn how to use Simscape:

See an overview of this model in this video (5 min):

Find other Simscape examples by searching posts for the keyword "physical modeling"

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Cite As

Steve Miller (2021). Backhoe Model in Simscape (, GitHub. Retrieved .

Comments and Ratings (9)

Konstantin Zhuchkov

Pavel Osipov

Steve Miller

@Iryna - which release are you using? I do not think I have ever seen that error message before. --Steve

Iryna Shmyhelska

Hello! I have a problem with bucket modeling .. when I start the simulation of the file "Backhoe_Arm" error: "Error in 'Backhoe_Arm/Arm/Bucket Assembly/Bucket/Attachment Frame/Attachment Plates/Left Hole Transform': This proxy block was inserted in the model because a block of type 'SimMechanicsBlock' could not be located during model load. Updating or simulating a model containing such a proxy block is not permitted". Help me please run the simulation.

Ehsan Khadem Olama

Shuzhong Zhang

Very Good Example.

vichi Da

vichi Da


MATLAB Release Compatibility
Created with R2021a
Compatible with R2013a to R2021a
Platform Compatibility
Windows macOS Linux

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