機器(qi)(qi)人關(guan)(guan)節(jie)(jie)是允(yun)許機器(qi)(qi)人本(ben)體(ti)各(ge)零件(jian)之間發生相對(dui)運動(dong)(dong)(dong)(dong)的(de)機構(gou)。關(guan)(guan)節(jie)(jie)之中，凡單獨(du)驅(qu)動(dong)(dong)(dong)(dong)的(de)稱主動(dong)(dong)(dong)(dong)關(guan)(guan)節(jie)(jie)，反之，稱從動(dong)(dong)(dong)(dong)關(guan)(guan)節(jie)(jie)。主要(yao)分(fen)為兩種：平動(dong)(dong)(dong)(dong)（移(yi)動(dong)(dong)(dong)(dong)）關(guan)(guan)節(jie)(jie)，也稱之為移(yi)動(dong)(dong)(dong)(dong)副，允(yun)許連桿(gan)作(zuo)(zuo)直線移(yi)動(dong)(dong)(dong)(dong)。轉(zhuan)動(dong)(dong)(dong)(dong)關(guan)(guan)節(jie)(jie)，也稱之為轉(zhuan)動(dong)(dong)(dong)(dong)副，允(yun)許連桿(gan)作(zuo)(zuo)旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)。機器(qi)(qi)人關(guan)(guan)節(jie)(jie)模組通常采用驅(qu)動(dong)(dong)(dong)(dong)旋(xuan)轉(zhuan)電(dian)機、伺服電(dian)機、一體(ti)化直接(jie)驅(qu)動(dong)(dong)(dong)(dong)旋(xuan)轉(zhuan)電(dian)機、模塊化直接(jie)驅(qu)動(dong)(dong)(dong)(dong)旋(xuan)轉(zhuan)電(dian)機、諧波減速(su)器(qi)(qi)、VR減速(su)器、行星齒(chi)輪箱(xiang)電(dian)(dian)機(ji)、蝸輪蝸桿齒(chi)輪箱(xiang)電(dian)(dian)機(ji)、步(bu)進(jin)電(dian)(dian)機(ji)等(deng)。

電機大(da)致(zhi)可(ke)細分為以下幾種

1.交(jiao)流(liu)伺服(fu)電動(dong)機(ji)：包(bao)括同步(bu)型(xing)交(jiao)流(liu)伺服(fu)電動(dong)機(ji)及反應式步(bu)進電動(dong)機(ji)等(deng)。

2.直(zhi)流(liu)伺服(fu)電(dian)動機(ji)：包(bao)括(kuo)小慣量永(yong)磁直(zhi)流(liu)伺服(fu)電(dian)動機(ji)、印(yin)制繞組直(zhi)流(liu)伺服(fu)電(dian)動機(ji)、大慣量永(yong)磁直(zhi)流(liu)伺服(fu)電(dian)動機(ji)、空心杯電(dian)樞直(zhi)流(liu)伺服(fu)電(dian)動機(ji)。

3.步(bu)進電動(dong)機(ji)：包括永(yong)磁感應步(bu)進電動(dong)機(ji)。