Built last night, this simulator is proportional(1cm to 3 in) to a 331 Bocat with a 30" joint-to-tooth bucket.

This should be handy in developing an optimal digging motion. Now, I am developing the software to transpose all three joint angles(control commands) into a XY position for the bucket teeth. This will keep the teeth at the same Y coordinate(vertical position) while the X coordinate changes(bucket pulled backwards).

The bucket teeth will start out vertical at the far end and slowly roll to horizontal. Each sucsessive pull will be a few inches deeper and shorter. I will attempt to compute bucket volume to optimize these demensions. Also, plan to add a range sensor to look into the bucket to check if it is full as it curls towards the upper arm.

I will also experiment with scooping dirt to grade instead of a pulling motion as has been recommended. The scooping motion seems like it would be faster as it would fill the bucket faster. Maybe the bucket cylinder force is not as good as the boom & stick cylinders.

Any experience backhoe operators please feel free to set me straight.