Probably the worst maple for that and certainly most overplanted/common is Norway Maple. Avoid that tree whenever possible.

I'm not really a Maple expert, but I agree that the one you are most likely referring to is Norway Maple, or botanical name 'Acer platanoides'. You have to check the nursery labels for the botanical name because there are so many varieties of Norway Maples, they may call it something like Emerald Queen Maple without mentioning that its a Norway Maple.

These Maples are large trees that generally have (1) very heavy shade, and (2) a shallow, dense, fibrous root system. Neither of these attributes are good for growing grass. But I wouldn't say it's impossible to grow grass underneath, either; especially if you prune it up a little higher to let more light in there.

"The larger species, such as Norway, Sugar, Big-leaf, and Red Maples, are fast growers (2-3 ft. a year), quickly building shade for a country lane or a large woodland garden of easy lines. For street planting and home gardens, oaks would be a better choice: They deliver big shade nearly as fast as the large maples, are less ready to drop limbs during snow and ice storms, and don't have the maples' dense, shallow, competitive roots."

--Schenk, COMPLETE SHADE GARDENER (Houghton Mifflin)

Oaks make nice shade trees...I agree about the maples with BBoy EXCEPT the sugar maple they are EXTREEMLY slow growing ...at least around here...That is what I would recommend for a nice shade tree you can trim up and grow grass easily under...and get great fall color ...I think it is by far the BEST shade tree there is for zone 5 HANDS DOWN!!
As far as oaks stay far far away from pin oak they are a crappy but fast growing tree that loose there leaves ALL winter long which , take it from me, is a real MESS!!...they are also twiggy and loose lower branches on a constant basis ...some other oaks have the same problems so do your reserch with oaks and find a species that the leaves drop in fall only and is study and not twiggy but most will be VERY slow growing ...David