Research on Motion Simulation for a Rigid-flexible Coupled Manipulator in CoppeliaSim.

For the task of inspecting in complex and narrow space and overcoming shortcomings from rigid manipulator, a type of manipulator with strong adaptability and deformable characteristics is urgently needed. Therefore, a type of rigid-flexible coupled manipulator is analysed from the perspective of mechanical structure and working mechanism in this paper, which are the bases of creating the simulation platform. Then, for the purpose of simplifying tedious motion control processes and analysing its motion state under the data collected, we build the CoppeliaSim model of the manipulator studied in this paper step by step. Finally, a stochastic motion test and an unclosed circle end positioning control task are carried out with detail result analyses, which prove the created CoppeliaSim model of flexible manipulator is well-designed with high accuracy.