How to Select Robot Joint Modules for Arms, Torso, Head, and Legs in AGV and Humanoid Robots

This article explains how to select appropriate harmonic and planetary robot joint modules for different humanoid and AGV robot subsystems such as arms, torso, head, and legs based on their functional and mechanical requirements.

This article provides a detailed guide for selecting robot joint modules in AGV and humanoid robot systems, explaining that different subsystems—dual arms, torso, head, lifting legs, and folding legs—have distinct requirements in torque, rigidity, precision, weight, vibration control, and impact resistance. It outlines how harmonic gear modules and planetary joint modules should be matched to each application: high-precision and lightweight modules for arms, high-rigidity high-load modules for the torso, compact low-vibration modules for the head, and high-torque durable solutions for leg structures. The article also highlights typical risks such as overheating, backlash, vibration, and structural failure, and provides recommended solutions for each subsystem, emphasizing engineering principles like torque demand, control strategy, and structural constraints for optimal robot performance.