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 README.txt file to get started.
The download button will get you the version for R2019b.
For R2019b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/126.96.36.199.zip
For R2019a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/188.8.131.52.zip
For R2018b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/184.108.40.206.zip
For R2018a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/220.127.116.11.zip
For R2017b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/18.104.22.168.zip
For R2017a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/22.214.171.124.zip
For R2016a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/126.96.36.199.zip
For R2014a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/188.8.131.52.zip
For R2013a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/184.108.40.206.zip
Versions of this example compatible with earlier MATLAB releases are available on GitHub.
See an overview of this model in this video (5 min):
To see an overview of this multibody modeling in Simscape Multibody, watch this video (1.5 min): https://www.mathworks.com/videos/simmechanics-introduction-69809.html
Learn about multibody simulation with Simscape Multibody:
Learn about hydraulic simulation with Simscape Fluids:
Find other Simscape examples by searching posts for the keyword "physical modeling"
Learn more about MathWorks Simscape Products:
Steve Miller (2020). Backhoe Model in Simscape (https://github.com/mathworks/Simscape-Backhoe-Arm/releases/tag/220.127.116.11), GitHub. Retrieved .
@Iryna - which release are you using? I do not think I have ever seen that error message before. --Steve
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.
Very Good Example.
See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Backhoe-Arm/releases/tag/18.104.22.168
Added links to GitHub for earlier releases.
R2019b version. Converted to MATLAB Project, hosted on GitHub
Added R2019a version.
Added R2018b version.
Updated for R2018a
Added R2017b version.
Added R2017a version and text for citing submission in other works. R2017a version includes a model developed by importing a CAD model from Onshape. Made startup file compatible with Mac, including references to image names.
Fixed broken link in submission description.
Updated for R2016a.
Added R2014a version.
Fixed webinar link.
Added R2013a version. Zip file also contains R2012b version.
Added links to videos and webinar that explain this model.
Updated parameter values.