基于MapleSim的六自由度柔性机械臂动力学仿真

柔性机械臂是一个复杂的机电一体化系统，涉及到多个物理领域。传统柔性结构建模一直存在建模复杂、模型不易扩展、运行速度慢等缺点，而且难以实现多领域建模，忽略了不同物理领域相互作用给整体系统所造成的影响。为了提高建模效率和仿真准确度，采用MapleSim多领域建模仿真平台，建立了六自由度柔性机械臂模型，包括柔性臂杆、关节、伺服驱动系统、传感器等。基于模型，从多领域的角度研究了柔性机械臂的动力学特性。该方法建模工作量小，所建模型易修改。仿真结果表明了该方法的有效性。

Dynamics Simulation of Six-DOF Flexible Robot Arm Based on MapleSim

Flexible robot arm is a complicated mechatrouical system deals with several physical domains. The traditional modeling method has some distinct disadvantages, such as the complexity, poor scalability and slow performance;Moreover, it＇ s hard to build multi-domain models, so the interactions of these domains which could affect the performances of the dynamics are omitted. To improve the modeling efficiency and the fidelity of the model, using the MapleSim multi-domain modeling tool developed a six-degree flexible robot man composed of flexible beam, joint, servo system, sensors. Based on this system, the dynamics of flexible arm can be studied from the view of multi-domains. This method can reduce the modeling difficulties and make the model easier to modify. The simulation result proves the effectiveness of the model.