Automated physics-based modeling of construction equipment through data fusion

Physics-based simulations are essential for designing autonomous construction equipment, but preparing models is time-consuming, requiring the integration of mechanical and geometric data. Current automatic modeling methods for modular robots are inadequate for construction equipment. This paper explores automating the modeling process by integrating mechanical data into 3D computer-aided design (CAD) models. A template library is developed with hierarchy and joint templates specific for equipment. During model generation, appropriate templates are selected based on the equipment type. Unspecified joint template data is extracted from technical specifications using a large language model (LLM). The 3D CAD model is then converted into a Universal Scene Description (USD) model. Users can adjust the part names and hierarchy within the USD model to align with the hierarchy template, and joint data is automatically integrated, resulting in a simulation-ready model. This method reduces modeling time by over 87 % compared to manual methods, while maintaining accuracy.