The invention provides a multifunctional robot joint performance test system which comprises a test platform for testing the robot joint performance and a linkage guide rail assembly for driving the test platform to move, wherein the test platform comprises a photoelectric coding device, a torque sensing acquisition device, a load analog control device and a moment generation control device which are sequentially connected in series through a first coupling and also comprises a temperature test device and a vibration gauge control device, wherein a photoelectric coding control device is connected with a to-be-tested robot joint through a second coupling; and the system further comprises a central controller in data connection with the test platform. According to the system provided by the invention, in the robot assembly process, one-by-one joint performance test can be realized through the cooperation between the test platform for testing the robot joint performance and the linkage guide rail assembly; all parameters of the robot joint performance can be tested once by simulating the load of the to-be-tested robot joint in a test process; and the system has relatively high adaptability, universality and real-time property in robot joint installation testing.