Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs

Area of Science:

• Robotics
• Mechanical Engineering

Background:

• Humanoid robotic upper limbs are crucial for advanced robotics.
• Lightweight and high-output designs are essential for enhanced task performance.

Purpose of the Study:

• To compare and analyze the effects of different drive methods on the structure, weight, and output of humanoid robotic upper limbs.
• To evaluate the advantages and disadvantages of various drive systems, including tendon, gear, link, fluid, belt, chain, and screw drives.

Main Methods:

• Reviewing and analyzing the characteristics of common drive systems for robotic limbs.
• Illustrating and assessing the specific applications of each drive method on humanoid robotic limbs.
• Comparing the weight and payload (or grasping force) of robotic hands and arms utilizing different drive systems.

Main Results:

• Tendon drive systems facilitate lightweight designs due to their simple structures.
• Gear drive systems achieve higher torque ratios, leading to greater output torque.
• Actuator weight significantly influences overall robotic limb weight; strategic external placement aids in weight reduction.

Conclusions:

• Drive system selection critically impacts humanoid robotic upper limb functionality and performance.
• Tendon and gear drives present distinct trade-offs between weight and torque output.
• Optimizing actuator placement and selection is key to achieving lightweight, high-performance robotic limbs.