The robot is classified according to the scope of use, motion coordinate form, drive mode and arm strength as follows:

1. Classification by scope of use:

(1) Special robot Generally, it has only fixed programs but no independent control system. It is attached to a certain machine or production line to automatically transfer objects or operate a certain tool, such as "blank loading and unloading robot", "crank automatic lathe robot", "oil pump camshaft automatic line robot", etc. This type of robot has a simple structure and low cost, and is suitable for mass production with relatively simple movements.

(2) General robot Refers to a mechanical device with a variable program and a separate drive control system, which is not attached to a certain machine and can automatically transfer objects or operate certain tools. General robots can be divided into two types according to their positioning and control methods: simple type and servo type. The simple type is only point control, so it belongs to the program control type. The servo type can be point control or continuous trajectory control, and generally belongs to the digital control type.

2. Classification by motion coordinate type:

(1) Cartesian coordinate manipulator: The arm can move along the three directions of the Cartesian coordinate axes X, Y, and Z, that is, the arm can be extended and retracted forward and backward (defined as movement along the X direction), moved left and right (defined as movement along the Y direction), and raised and lowered (defined as movement along the Z direction);

(2) Cylindrical coordinate manipulator: The arm can move along the X and Z directions of the Cartesian coordinate axes, and can also rotate around the Z axis (defined as rotation around the Z axis), that is, the arm can be extended and retracted forward and backward, raised and lowered, and rotated left and right;

(3) Spherical coordinate manipulator: The arm can move along the X direction of the Cartesian coordinate axis, and can also rotate around the Y and Z axes, that is, the arm can be extended and retracted forward and backward (movement along the X direction), swung up and down (defined as swinging around the Y axis), and rotated left and right (still defined as rotation around the Z axis);

(4) Multi-joint manipulator: The arm of this type of manipulator can be divided into a small arm and a large arm. The connection between the forearm and the upper arm (elbow) and the connection between the upper arm and the body (shoulder) are both joint (hinge) connections, that is, the forearm can swing up and down around the elbow, the upper arm can swing around the shoulder at multiple angles, and the arm can also rotate left and right.

3. Classification by driving method:

(1) Hydraulic drive manipulator is driven by pressure oil;

(2) Pneumatic drive manipulator is driven by compressed air;

(3) Electric drive manipulator is directly driven by an electric motor;

(4) Mechanical drive manipulator is a driving method that transmits the power of the host to the manipulator through cams, connecting rods, gears, intermittent mechanisms, etc.

4. Classification by arm strength of manipulator:

(1) Micro manipulator: arm strength is less than 1 kg;

(2) Small manipulator: arm strength is 1-10 kg;

(3) Medium manipulator: arm strength is 10-30 kg;

(4) Large manipulator: arm strength is greater than 30 kg.