1. Hand (or gripping mechanism) includes fingers, force transmission mechanism, etc., which mainly plays the role of grabbing and placing objects.

2. Transmission mechanism (or arm) includes wrist, arm, etc., which mainly plays the role of changing the direction and position of objects.

3. Driving part It is the power of the first two parts, so it is also called the power source. The commonly used driving forms are hydraulic, pneumatic, electric and mechanical.

4. Control part It is the command system of the manipulator's action, which controls the order (program), position and time (even speed and acceleration) of the action.

5. Other parts Such as the body, walking mechanism, travel detection device and sensor device.