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Review
. 2021 Jun 15:2021:9817487.
doi: 10.34133/2021/9817487. eCollection 2021.

Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs

Yiwei Wang  1 , Wenyang Li  1 , Shunta Togo  1   2 , Hiroshi Yokoi  1   2   3 , Yinlai Jiang  1   2   3
Affiliations
Review

Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs

Yiwei Wang et al. Cyborg Bionic Syst. .

Abstract

Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Comparison of the weight of humanoid robotic hands with different drive methods.
Figure 2
Figure 2
Comparison of the weight and payload of research robotic arms and commercial robotic arms with different drive methods, where the red line represents the payload weight as half of the arm's self-weight.
Figure 3
Figure 3
Proportion of each drive method used in humanoid robotic upper limb joints.
See this image and copyright information in PMC

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