[{"data":1,"prerenderedAt":128},["ShallowReactive",2],{"\u002Fglossary\u002Ftorque-density":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":118,"extension":119,"keywords":120,"meta":121,"navigation":122,"path":123,"seo":124,"stem":125,"updated":126,"__hash__":127},"glossary\u002Fglossary\u002Fzh\u002Ftorque-density.md","扭矩密度（N·m\u002Fkg）","Torque Density",{"type":8,"value":9,"toc":112},"minimark",[10,15,33,37,40,59,91,94],[11,12,14],"h1",{"id":13},"扭矩密度是什么","扭矩密度是什么？",[16,17,18,22,23,26,27,32],"p",{},[19,20,21],"strong",{},"扭矩密度","（Torque Density）指执行器单位重量能输出的扭矩，单位 ",[19,24,25],{},"N·m\u002Fkg","，分峰值扭矩密度与额定扭矩密度两种口径。它是机器人",[28,29,31],"a",{"href":30},"\u002Fglossary\u002Fjoint-motor","关节电机","最核心的指标：关节电机装在机器人肢体上，自身重量就是别的关节要驮的负载——扭矩密度每提高一分，整机就能更轻、更快、续航更久。",[34,35,36],"h2",{"id":36},"怎么计算与比较",[16,38,39],{},"扭矩密度 = 输出扭矩 ÷ 执行器总重（含减速器与编码器）。比较时务必对齐口径：",[41,42,43,50,56],"ul",{},[44,45,46,49],"li",{},[19,47,48],{},"峰值 vs 额定","：厂商宣传多用峰值口径，数值可达额定口径的 3 倍以上；",[44,51,52,55],{},[19,53,54],{},"是否含驱动器","：一体化关节模组含驱动板，裸电机数字不可直接对比；",[44,57,58],{},"当前一体化关节的峰值扭矩密度普遍在 30–70 N·m\u002Fkg，顶尖产品超过 100 N·m\u002Fkg。",[16,60,61,62,66,67,71,72,75,76,80,81,85,86,90],{},"以 BXI ",[28,63,65],{"href":64},"\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 系列","为例（峰值口径）：",[28,68,70],{"href":69},"\u002Fmotors\u002Fbxi8515-19","BXI8515-19"," 为 150 N·m ÷ 1.4 kg ≈ ",[19,73,74],{},"107 N·m\u002Fkg","，",[28,77,79],{"href":78},"\u002Fmotors\u002Fbxi7010-19","BXI7010-19"," 为 50 N·m ÷ 0.8 kg ≈ 63 N·m\u002Fkg，",[28,82,84],{"href":83},"\u002Fmotors\u002Fbxi5018-19","BXI5018-19"," 约 64 N·m\u002Fkg，",[28,87,89],{"href":88},"\u002Fmotors\u002Fbxi5014-19","BXI5014-19"," 为 50 N·m\u002Fkg。",[34,92,93],{"id":93},"高扭矩密度怎么来的",[16,95,96,97,101,102,106,107,111],{},"大直径、多极对数的外转子力矩电机提供基础扭矩，",[28,98,100],{"href":99},"\u002Fglossary\u002Fplanetary-gearbox","行星减速器","以较小的重量代价放大扭矩；",[28,103,105],{"href":104},"\u002Fglossary\u002Fquasi-direct-drive","准直驱（QDD）","路线用中小减速比在扭矩密度与反驱性之间取得平衡。谐波方案扭矩密度口径可以更高，但牺牲抗冲击与反驱能力，见",[28,108,110],{"href":109},"\u002Fglossary\u002Fharmonic-drive","谐波减速器","。",{"title":113,"searchDepth":114,"depth":114,"links":115},"",2,[116,117],{"id":36,"depth":114,"text":36},{"id":93,"depth":114,"text":93},"扭矩密度表示执行器单位重量可输出的扭矩，是评估机器人关节重量、负载和动态性能的重要指标。","md","扭矩密度, N·m\u002Fkg, 关节电机选型, 扭矩重量比, 机器人执行器指标",{},true,"\u002Fglossary\u002Fzh\u002Ftorque-density",{"title":5,"description":118},"glossary\u002Fzh\u002Ftorque-density",null,"fhfUPrz2T-1tkr1CzChKMj6Ntra44nlorHQ9VOZW27g",1785156466969]