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Backhoe Model in Simscape

version (7.6 MB) by Steve Miller
Backhoe model, including hydraulic actuators for arm and bucket tilt, and multibody dynamics.


Updated 22 Jun 2020

GitHub view license on GitHub

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:
For R2019a:
For R2018b:
For R2018a:
For R2017b:
For R2017a:
For R2016a:
For R2014a:
For R2013a:

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):

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:

Cite As

Steve Miller (2020). 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



See release notes for this release on GitHub:

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.

Updated license

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.

MATLAB Release Compatibility
Created with R2020a
Compatible with R2013a to R2020a
Platform Compatibility
Windows macOS Linux