1.

Compare ball screw and lead screw

What are the advantages/disadvantages of lead screws?

Lead screws cost less.

Lead screws are self-locking and do not require a braking system.
Lead screws are better for vertical applications.
Lead screws are generally less efficient, requiring greater torque and a larger motor
and drive.
Lead screws have higher friction and run a hotter temperature.
Most lead screws are not well suited to high throughput, high speed applications or
those with continuous or long cycle times.
Lead screws need to be replaced more frequently.

What are the advantages/disadvantages of ball screws?

Ball screws require braking systems.

Ball screws can have problems with vertical applications.
Ball screws are more efficient, requiring less torque.
Ball screws have lower friction and run at cooler temperatures.
Ball screws require grease or oil lubrication to achieve design life.
Ball screws need to be replaced less frequently.
Ball screws are noisy.
Ball screws require braking mechanisms to eliminate backdriving.
Ball screws are more expensive than lead screws.

2. What are harmonic driver and why it is preferred in robots?

Harmonic Drive is the brand name of strain wave gear trademarked by the Harmonic
Drive company, invented in 1957 by C.W. Musser.

It is very commonly implemented in robotics and in aerospace as well, for gear

reduction but may also be used to increase rotational speed, or for differential gearing.

The advantages include: no backlash, high compactness and light weight, high gear
ratios, reconfigurable ratios within a standard housing, good resolution and excellent
repeatability (linear representation) when repositioning inertial loads, high torque
capability, and coaxial input and output shafts. High gear reduction ratios are possible
in a small volume (a ratio from 30:1 up to 320:1 is possible in the same space in
which planetary gears typically only produce a 10:1 ratio)