Special Issue on Analysis and Simulation Systems for Robotics and Mechatronics
Department of Mechanical and Systems Engineering, Gifu University1-1 Yanagido, Gifu 501-1193, Japan
Superior analysis and simulation systems play an important part in robotics and mechatronics R&D. Developing apparatuses involves repeating planning, trial manufacture, experiments, analysis, and improvement. Simulation and analysis are now executed before trial manufacture, decreasing the number of trial manufacture, shortening development, and cutting development cost. Virtual reality is often applied to simulation, and commercialization without trial manufactures will eventually be possible. Most commercialized simulation software are being improved for general use based on software made by researchers because existing analysis and simulation do not function sufficiently and researchers are often required to develop their own analysis and simulation. Simulation developed for research thus may be used by many technical experts and researchers in the future. This special issue introduces seven reports on basic mechanism analysis developed to survey simulation research. Michisuke Jo et al. developed a mechanism kinetic analysis Motor Drive using FORTRAN and MATLAB. This article, entitled Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory, considers kinematic analysis method using the latest drive version. Haruhisa Kawasaki et al. are developing robot analysis ROSAM II using C and Maple V. This article, entitled Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis, considers base parameter analysis of general robots with closed links. Hajime Morikawa et al. developed a robot simulator kinematically simulated by connecting graphic icons. This article, entitled Network-Based Robot Simulator Using Hierarchical Graphic Icons, considers construction of a robot simulator, kinetic analysis of multiple robot arms, dynamic analysis of forest trimmers, and an example applying remote control to space robots. Shigeki Toyama et al. developed general-use mechanism analysis simulator AI MOTION. This article, entitled Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis, considers an autonomous car travel simulator dynamically modeling tires combined into AI MOTION. The simulator analyzes the connection of tire rigidity, car width, caster radius, and motion performance. Takayoshi Muto et al. developed dynamic behavior simulator BDSP for hydraulic systems. This article, entitled Software Package BDSP Developed to Simulate Hydraulic Systems, considers construction of BDSP that analyzes hydraulic systems using easy block diagrams. The simulator analyzes fluid line, nonlinear elements, and discrete time control. Shinichi Nakajima et al. developed a two-dimensional jaw movement simulator for clarifying the function of muscles in lower jaw motion. This article, entitled Development of 2-D Jaw Movement Simulator(JSN/SI), considers hardware and a control system for chewing food at a required force. Yoshiyuki Sankai et al., in Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor, consider parallel distributed and realtime control by DSP for constructing control in an actual robot. This issue discussed analysis and simulation developed for robotics and mechatronics R&D. Most systems are applicable to general-purpose situations. We hope this issue helps deepen the understanding of the status and applications of simulation research in mechatronics and promotes further development in the field.