No Cover Image

Journal article 18 views

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

Ali Al-Shahrabi, Masoud J. Javid Orcid Logo, Ashraf Fahmy Abdo Orcid Logo, Christian Griffiths, Chunxu Li Orcid Logo

IEEE Access, Pages: 1 - 1

Swansea University Authors: Ali Al-Shahrabi, Ashraf Fahmy Abdo Orcid Logo, Christian Griffiths, Chunxu Li Orcid Logo

Full text not available from this repository: check for access using links below.

Check full text

DOI (Published version): 10.1109/access.2024.3510226

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 m...

Full description

Published in: IEEE Access
ISSN: 2169-3536
Published: Institute of Electrical and Electronics Engineers (IEEE) 2024
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa68453
first_indexed 2024-12-03T19:48:16Z
last_indexed 2024-12-03T19:48:16Z
id cronfa68453
recordtype SURis
fullrecord <?xml version="1.0"?><rfc1807><datestamp>2024-12-03T15:38:22.0466931</datestamp><bib-version>v2</bib-version><id>68453</id><entry>2024-12-03</entry><title>Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim</title><swanseaauthors><author><sid>d01e641793738bce8cdd4778eea4f80c</sid><firstname>Ali</firstname><surname>Al-Shahrabi</surname><name>Ali Al-Shahrabi</name><active>true</active><ethesisStudent>false</ethesisStudent></author><author><sid>b952b837f8a8447055210d209892b427</sid><ORCID>0000-0003-1624-1725</ORCID><firstname>Ashraf</firstname><surname>Fahmy Abdo</surname><name>Ashraf Fahmy Abdo</name><active>true</active><ethesisStudent>false</ethesisStudent></author><author><sid>84c202c256a2950fbc52314df6ec4914</sid><ORCID/><firstname>Christian</firstname><surname>Griffiths</surname><name>Christian Griffiths</name><active>true</active><ethesisStudent>false</ethesisStudent></author><author><sid>e6ed70d02c25b05ab52340312559d684</sid><ORCID>0000-0001-7851-0260</ORCID><firstname>Chunxu</firstname><surname>Li</surname><name>Chunxu Li</name><active>true</active><ethesisStudent>false</ethesisStudent></author></swanseaauthors><date>2024-12-03</date><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&#x2019;s Simscape Multibody toolbox and CoppeliaSim (formerly known as V-REP). The simulation model accurately captures the robotic hand&#x2019;s mechanical structure and control aspects, allowing for an in-depth analysis of its behaviour. The model incorporates the technical characteristics of the hand&#x2019;s joints, links, and constraints into a multibody dynamic&#x2019;s framework. The robotic hand is simulated on two platforms: MATLAB, to verify the control system&#x2019;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&#x2019;s design and control strategies for practical robotics and automation applications. This research provides valuable insights into the hand&#x2019;s capabilities and limitations, serving as a foundation for future studies.</abstract><type>Journal Article</type><journal>IEEE Access</journal><volume/><journalNumber/><paginationStart>1</paginationStart><paginationEnd>1</paginationEnd><publisher>Institute of Electrical and Electronics Engineers (IEEE)</publisher><placeOfPublication/><isbnPrint/><isbnElectronic/><issnPrint/><issnElectronic>2169-3536</issnElectronic><keywords/><publishedDay>1</publishedDay><publishedMonth>1</publishedMonth><publishedYear>2024</publishedYear><publishedDate>2024-01-01</publishedDate><doi>10.1109/access.2024.3510226</doi><url>https://doi.org/10.1109/access.2024.3510226</url><notes/><college>COLLEGE NANME</college><CollegeCode>COLLEGE CODE</CollegeCode><institution>Swansea University</institution><apcterm/><funders/><projectreference/><lastEdited>2024-12-03T15:38:22.0466931</lastEdited><Created>2024-12-03T15:33:53.2018385</Created><path><level id="1">Faculty of Science and Engineering</level><level id="2">School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering</level></path><authors><author><firstname>Ali</firstname><surname>Al-Shahrabi</surname><order>1</order></author><author><firstname>Masoud J.</firstname><surname>Javid</surname><orcid>0009-0005-7994-9941</orcid><order>2</order></author><author><firstname>Ashraf</firstname><surname>Fahmy Abdo</surname><orcid>0000-0003-1624-1725</orcid><order>3</order></author><author><firstname>Christian</firstname><surname>Griffiths</surname><orcid/><order>4</order></author><author><firstname>Chunxu</firstname><surname>Li</surname><orcid>0000-0001-7851-0260</orcid><order>5</order></author></authors><documents/><OutputDurs/></rfc1807>
spelling 2024-12-03T15:38:22.0466931 v2 68453 2024-12-03 Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim d01e641793738bce8cdd4778eea4f80c Ali Al-Shahrabi Ali Al-Shahrabi true false b952b837f8a8447055210d209892b427 0000-0003-1624-1725 Ashraf Fahmy Abdo Ashraf Fahmy Abdo true false 84c202c256a2950fbc52314df6ec4914 Christian Griffiths Christian Griffiths true false e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false 2024-12-03 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. Journal Article IEEE Access 1 1 Institute of Electrical and Electronics Engineers (IEEE) 2169-3536 1 1 2024 2024-01-01 10.1109/access.2024.3510226 https://doi.org/10.1109/access.2024.3510226 COLLEGE NANME COLLEGE CODE Swansea University 2024-12-03T15:38:22.0466931 2024-12-03T15:33:53.2018385 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Ali Al-Shahrabi 1 Masoud J. Javid 0009-0005-7994-9941 2 Ashraf Fahmy Abdo 0000-0003-1624-1725 3 Christian Griffiths 4 Chunxu Li 0000-0001-7851-0260 5
title Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
spellingShingle Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
Ali Al-Shahrabi
Ashraf Fahmy Abdo
Christian Griffiths
Chunxu Li
title_short Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
title_full Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
title_fullStr Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
title_full_unstemmed Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
title_sort Modeling the DLR-HIT II Robotic Hand: A Dual-Platform Simulation Approach in MATLAB and CoppeliaSim
author_id_str_mv d01e641793738bce8cdd4778eea4f80c
b952b837f8a8447055210d209892b427
84c202c256a2950fbc52314df6ec4914
e6ed70d02c25b05ab52340312559d684
author_id_fullname_str_mv d01e641793738bce8cdd4778eea4f80c_***_Ali Al-Shahrabi
b952b837f8a8447055210d209892b427_***_Ashraf Fahmy Abdo
84c202c256a2950fbc52314df6ec4914_***_Christian Griffiths
e6ed70d02c25b05ab52340312559d684_***_Chunxu Li
author Ali Al-Shahrabi
Ashraf Fahmy Abdo
Christian Griffiths
Chunxu Li
author2 Ali Al-Shahrabi
Masoud J. Javid
Ashraf Fahmy Abdo
Christian Griffiths
Chunxu Li
format Journal article
container_title IEEE Access
container_start_page 1
publishDate 2024
institution Swansea University
issn 2169-3536
doi_str_mv 10.1109/access.2024.3510226
publisher Institute of Electrical and Electronics Engineers (IEEE)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
url https://doi.org/10.1109/access.2024.3510226
document_store_str 0
active_str 0
description 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.
published_date 2024-01-01T20:49:36Z
_version_ 1822074210265071616
score 11.048302

Similar Items