首先采用矢量法,尝试对垂直平面内的多自由度柔性机械手系统的动力学模型进行推导。然后以垂直平面三杆柔性机械手为例,简化机械手构件,提取机械手广义坐标变量,应用矢量法推导柔性机械手的动力学方程。最后用maple仿真软件对机械手末端运动情况进行了计算机仿真,验证了矢量法确实能够提高柔性机械手动力学模型精度,并且降低了计算过程中符号运算的复杂程度,是一种比较理想的动力学建模方法。 First of all, using vector method, try to deduce the dynamic model of flexible manipulator system in vertical plane. Then taking the vertical three-plane flexible manipulator as an example, the mechanical components are simplified, the generalized coordinate variables of the manipulator are extracted, and the dynamic equations of the flexible manipulator are deduced by the vector method. Finally, using the maple simulation software to simulate the movement of the manipulator, it is verified that the vector method can indeed improve the precision of the flexible manipulator dynamics model and reduce the complexity of the symbolic computation in the calculation process. It is an ideal kinematics model Modal method.