Hydraulic excavator — pre-recorded dig cycles
A full hydraulic excavator running two pre-recorded dig cycles, two-way coupled to about 630,000 grains of 80 mm. The curves alongside are computed by the simulation: cylinder pressures, bucket forces and moment, swing torque and payload.
The whole machine is driven by pre-recorded cylinder-stroke and swing motion, covering the first two dig cycles (48 s), and is two-way coupled to about 630,000 grains of 80 mm. It is rendered in Isaac Sim.
Every curve on the right is computed by the simulation: the load pressure in the boom, arm and bucket cylinders; the force the grains put on the bucket, horizontal and vertical; the bucket moment about the arm pin; and the swing torque and payload.
No parameters were available for the material being dug, so the grains use generic parameters and have not been calibrated. The force and torque values are of a plausible order of magnitude, but they are indicative only.
Simulated with NDEM, our real-time granular engine.
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