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机器人重要参数

机器人的技术参数反映了机器人可胜任的工作、具有的Zui高操作性能等情况，是设计、应用机器人必须考虑的问题。机器人的主要技术参数有自由度、分辨率、工作空间、工作速度、工作载荷等。

1.自由度

是指机器人具有的独立运动的坐标轴数量。

机器人的自由度是指确定机器人手部在空间的位置和姿态时所需要的独立运动参数的数量。机器人的自由度数一般等于关节数量。

常见机器人自由度数一般有5～6个。有些机器人还附带有外部轴。

2、关节（Joint）

即运动副，允许机器人手臂各零件之间发生相对运动的机构。

、速度

机器人在工作过程中带载荷条件下、匀速运动过程时，机械接口中心或工具中心点在单位时间内所移动的距离或转动的角度。

3、工作负载

是指机器人手腕前端安装负荷在工作范围内任何位置上所能承受的Zui大重量，一般用质量、力矩、惯性矩表示。

还和运行速度和加速度大小等参数有关，工作负载一般用高速运行时机器人所能抓取的工件重量作为负载承受能力为指标。

搬运机器人的负荷重量，必须考虑抓手和工件的合计。

4、分辨率

是指机器人能够实现的Zui小移动距离或Zui小转动角度。

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