The analytical modeling of multi-link mechanisms with a large number of degrees of freedom is a difficult task, therefore, it is advisable to use a simulation model Since it is planned to use a flexible working body on an area overgrown with vegetation, this will require a significant number of elements and, as a result, it will be very difficult to perform work using computer-aided design. In this paper, a simulation model of a flexible working body is implemented in a cross-platform Unity development environment. In computer-aided design systems, we are limited to tools and algorithms created by developers. In Unity, we have the opportunity to create our own tools and algorithms, adding it to the links of interest to us, which are solids in the field of gravitational forces. We created a 3D model of each link of a flexible working body, connected it with hinges with the possibility of moving relative to each other. Added scripts to accelerate the rotor and save the coordinates of the links. Based on the obtained coordinates, dependencies were constructed to determine the kinematics of the links of the flexible working body, taking into account its bending in the vertical and horizontal plane under the action of gravity.

具有大量自由度的多连杆机构的分析建模是一项艰巨的任务，因此，建议使用仿真模型。由于计划在植被茂盛的区域使用柔性工作体，这将需要大量元素，因此，使用计算机辅助设计执行工作将非常困难。本文在跨平台的Unity开发环境中实现了柔性工作体的仿真模型。在计算机辅助设计系统中，我们仅限于开发人员创建的工具和算法。在 Unity 中，我们有机会创建自己的工具和算法，将其添加到我们感兴趣的链接中，这些链接是引力领域中的实体。我们为柔性工作体的每个环节创建了 3D 模型，将其与铰链连接，可以相对移动。添加了加速转子并保存链接坐标的脚本。基于获得的坐标，构建依赖关系以确定柔性工作体连杆的运动学，同时考虑到其在重力作用下在垂直和水平面上的弯曲。