1.機器人類型：安川工業機器人有垂直多關節型和水平多關節型等類型，需要根據應用場景和需求選擇合適的類型。

1. Robot types: Yaskawa Industrial Robots have vertical multi joint and horizontal multi joint types, and suitable types need to be selected according to application scenarios and needs.

2.自由度：機器人的自由度數一般指的是軸數，它決定了機器人可以實現的運動軌跡和操作靈活性。通用的安川工業機器人是6軸的，但也有針對特定用途的2～7軸的機器人。

2. Degrees of Freedom: The number of degrees of freedom of a robot generally refers to the number of axes, which determines the motion trajectory and operational flexibility that the robot can achieve. The general Yaskawa industrial robots are 6-axis, but there are also 2-7 axis robots for specific purposes.

3.可搬運重量：機器人的可搬運重量是指機械臂能夠拿起的大重量，需要注意的是，這個重量指的是工件+機械手的重量。

3. Portable weight: The portable weight of a robot refers to the large weight that the robotic arm can pick up. It should be noted that this weight refers to the weight of the workpiece and the robotic arm.

4.重復定位精度：代表機器人的精度高低，精度越高，機器人的運動軌跡越精確。

4. Repetitive positioning accuracy: represents the accuracy of the robot, and the higher the accuracy, the more accurate the robot's motion trajectory.

5.動作范圍和動作速度：機器人的各軸的動作范圍和速度，是決定機器人運動能力和效率的重要參數。

5. Action range and speed: The action range and maximum speed of each axis of the robot are important parameters that determine the robot's motion ability and efficiency.

6.容許負載：機械臂的手腕軸能夠容許的力矩和慣性力矩。在考慮機械臂的負載時，需要滿足前述的可搬運重量、力矩及慣性力矩這3個條件。

6. Permissible load: The torque and inertia torque that the wrist axis of the robotic arm can tolerate. When considering the load of a robotic arm, it is necessary to meet the three conditions of transportable weight, torque, and inertia torque mentioned above.

7.設置環境：包括溫度、濕度、振動等環境因素，需要考慮這些因素是否滿足機器人的使用要求。

7. Setting the environment: including temperature, humidity, vibration and other environmental factors, it is necessary to consider whether these factors meet the requirements of the robot's use.