機(ji)(ji)(ji)器人(ren)關(guan)(guan)(guan)節(jie)是(shi)允(yun)許機(ji)(ji)(ji)器人(ren)本體各(ge)零件之(zhi)(zhi)間發(fa)生相對運(yun)動(dong)(dong)的機(ji)(ji)(ji)構。關(guan)(guan)(guan)節(jie)之(zhi)(zhi)中，凡單獨(du)驅(qu)動(dong)(dong)的稱(cheng)主動(dong)(dong)關(guan)(guan)(guan)節(jie)，反之(zhi)(zhi)，稱(cheng)從動(dong)(dong)關(guan)(guan)(guan)節(jie)。主要分為兩種：平動(dong)(dong)（移動(dong)(dong)）關(guan)(guan)(guan)節(jie)，也(ye)稱(cheng)之(zhi)(zhi)為移動(dong)(dong)副，允(yun)許連桿(gan)作(zuo)直(zhi)線移動(dong)(dong)。轉動(dong)(dong)關(guan)(guan)(guan)節(jie)，也(ye)稱(cheng)之(zhi)(zhi)為轉動(dong)(dong)副，允(yun)許連桿(gan)作(zuo)旋轉運(yun)動(dong)(dong)。機(ji)(ji)(ji)器人(ren)關(guan)(guan)(guan)節(jie)模組通(tong)常采用(yong)驅(qu)動(dong)(dong)旋轉電(dian)(dian)(dian)(dian)機(ji)(ji)(ji)、伺服電(dian)(dian)(dian)(dian)機(ji)(ji)(ji)、一體化直(zhi)接驅(qu)動(dong)(dong)旋轉電(dian)(dian)(dian)(dian)機(ji)(ji)(ji)、模塊(kuai)化直(zhi)接驅(qu)動(dong)(dong)旋轉電(dian)(dian)(dian)(dian)機(ji)(ji)(ji)、諧波減速器、VR減速器、行星(xing)齒(chi)(chi)輪(lun)(lun)箱電機(ji)(ji)、蝸輪(lun)(lun)蝸桿齒(chi)(chi)輪(lun)(lun)箱電機(ji)(ji)、步進電機(ji)(ji)等。

電機大致可(ke)細分為以下幾種

1.交(jiao)流(liu)伺(si)服電(dian)動(dong)機：包括同步型交(jiao)流(liu)伺(si)服電(dian)動(dong)機及反應(ying)式步進(jin)電(dian)動(dong)機等(deng)。

2.直(zhi)(zhi)流(liu)伺(si)服電(dian)動(dong)機：包括小慣量永(yong)磁直(zhi)(zhi)流(liu)伺(si)服電(dian)動(dong)機、印(yin)制繞組直(zhi)(zhi)流(liu)伺(si)服電(dian)動(dong)機、大慣量永(yong)磁直(zhi)(zhi)流(liu)伺(si)服電(dian)動(dong)機、空心杯電(dian)樞直(zhi)(zhi)流(liu)伺(si)服電(dian)動(dong)機。

3.步(bu)進電(dian)動機(ji)：包括永(yong)磁感應步(bu)進電(dian)動機(ji)。