機(ji)(ji)(ji)(ji)(ji)器人關(guan)(guan)(guan)節(jie)是允許機(ji)(ji)(ji)(ji)(ji)器人本體各(ge)零(ling)件之(zhi)間發生相對運(yun)動(dong)(dong)(dong)的機(ji)(ji)(ji)(ji)(ji)構。關(guan)(guan)(guan)節(jie)之(zhi)中，凡單獨驅動(dong)(dong)(dong)的稱(cheng)主動(dong)(dong)(dong)關(guan)(guan)(guan)節(jie)，反之(zhi)，稱(cheng)從動(dong)(dong)(dong)關(guan)(guan)(guan)節(jie)。主要分(fen)為兩種：平動(dong)(dong)(dong)（移(yi)動(dong)(dong)(dong)）關(guan)(guan)(guan)節(jie)，也(ye)稱(cheng)之(zhi)為移(yi)動(dong)(dong)(dong)副，允許連(lian)(lian)桿作直線移(yi)動(dong)(dong)(dong)。轉(zhuan)(zhuan)動(dong)(dong)(dong)關(guan)(guan)(guan)節(jie)，也(ye)稱(cheng)之(zhi)為轉(zhuan)(zhuan)動(dong)(dong)(dong)副，允許連(lian)(lian)桿作旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)動(dong)(dong)(dong)。機(ji)(ji)(ji)(ji)(ji)器人關(guan)(guan)(guan)節(jie)模組通常采用驅動(dong)(dong)(dong)旋(xuan)(xuan)轉(zhuan)(zhuan)電(dian)機(ji)(ji)(ji)(ji)(ji)、伺服電(dian)機(ji)(ji)(ji)(ji)(ji)、一(yi)體化直接驅動(dong)(dong)(dong)旋(xuan)(xuan)轉(zhuan)(zhuan)電(dian)機(ji)(ji)(ji)(ji)(ji)、模塊化直接驅動(dong)(dong)(dong)旋(xuan)(xuan)轉(zhuan)(zhuan)電(dian)機(ji)(ji)(ji)(ji)(ji)、諧(xie)波減(jian)速(su)器、VR減(jian)速(su)器、行(xing)星齒輪(lun)(lun)箱電(dian)機(ji)(ji)(ji)(ji)(ji)、蝸輪(lun)(lun)蝸桿齒輪(lun)(lun)箱電(dian)機(ji)(ji)(ji)(ji)(ji)、步(bu)進電(dian)機(ji)(ji)(ji)(ji)(ji)等。

電機(ji)大致可細分為以下(xia)幾種

1.交流伺服電(dian)(dian)動(dong)機(ji)(ji)(ji)：包括(kuo)同(tong)步(bu)型交流伺服電(dian)(dian)動(dong)機(ji)(ji)(ji)及反應式步(bu)進(jin)電(dian)(dian)動(dong)機(ji)(ji)(ji)等。

2.直(zhi)流伺(si)(si)服(fu)電(dian)動機：包括(kuo)小慣量永磁直(zhi)流伺(si)(si)服(fu)電(dian)動機、印制繞組直(zhi)流伺(si)(si)服(fu)電(dian)動機、大慣量永磁直(zhi)流伺(si)(si)服(fu)電(dian)動機、空(kong)心杯(bei)電(dian)樞(shu)直(zhi)流伺(si)(si)服(fu)電(dian)動機。

3.步進電動機：包括永磁(ci)感應步進電動機。