中文摘要：

平面开链机械臂是由一系列电机驱动单臂串联而成。利用这种串联式的结构特性，建立了电机驱动单臂的子系统机电耦合向量键合图模型以及等价动力学一阶微分方程，并利用模块化的方式建立出整个平面开链机械臂系统的键合图动力学模型。模型中通过考虑电机输出轴以及机械臂的挠性，实现微分因果关系的消除。以平面2R机械臂为例，通过对含有PD控制器的机电耦合系统动力学模型进行键合图仿真与Madab仿真的结果对比，以及容性元件取值对系统动态响应影响的分析，验证了所提出方法的正确和有效性。

英文摘要：

A planar open chain manipulator is composed of a series of single arm actuated by a motor. This serial chain nature make it possible to establish the vector bond graph model and equivalent dynamic first order differential equation of electromechanical coupling for the single arm actuated by a mator firstly, and then to establish the vector bond graph and dynamics modeling for the whole manipulator by the modular method. The differential causality is solved by considering the flexible of the motor output shaft and manipulator. A planar 2R manipulator is taken as art example to demonstrate the method proposed in it and its effectiveness and correctness as well, by comparing the simulation results from Bond Graph and Matlab simulation of the system with the PD controller and analysing the influence of the value of the capacitive element on dynamic response of the system.