The driver is the robot’s power system, which is equivalent to the human cardiovascular system. It is generally composed of a drive device and a transmission mechanism. Due to different driving methods, the driving device can be divided into three types: electric, hydraulic and pneumatic. The dc or ac motor, hydraulic cylinder, and cylinder in the drive device can be directly connected with the operating machine, and can also be connected with the actuator through the transmission mechanism. The transmission mechanism usually has several types such as gear transmission, chain transmission, harmonic gear transmission, screw transmission, and belt transmission.