Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim

Abstract

The DLR-HIT II hand is a highly flexible and dexterous robot capable of performing complex grasping and manipulation tasks. This study presents a comprehensive simulation of the artificial hand using both MATLAB’s Simscape Multibody toolbox and CoppeliaSim (formerly known as V-REP). The simulation model accurately captures the robotic hand’s mechanical structure and control aspects, allowing for an in-depth analysis of its behaviour. The model incorporates the technical characteristics of the hand’s joints, links, and constraints into a multibody dynamic’s framework. The robotic hand is simulated on two platforms: MATLAB, to verify the control system’s performance, and CoppeliaSim, which offers a realistic 3D simulation environment with real-time interaction with other robots or objects. The simulation results enable further optimization and enhancement of the robotic hand’s design and control strategies for practical robotics and automation applications. This research provides valuable insights into the hand’s capabilities and limitations, serving as a foundation for future studies.