A robotic arm is mainly composed of three parts: the hand, the motion mechanism, and the control system. The hand is a component used to grip workpieces (or tools), and there are various structural forms depending on the shape, size, weight, material, and operational requirements of the grasped object, such as clamping type, supporting type, and suction type. A motion mechanism that enables the hand to complete various rotations (swings), movements, or compound movements to achieve specified actions, changing the position and posture of the grasped object. The independent motion modes of a moving mechanism, such as lifting, extending, and rotating, are called the degrees of freedom of a robotic arm. In order to capture objects at any position and orientation in space, there need to be 6 degrees of freedom. The degree of freedom is a key parameter in the design of robotic arms. The more degrees of freedom there are, the greater the flexibility and versatility of the robotic arm, and the more complex its structure becomes. Generally, specialized robotic arms have 2-3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the robotic arm. Simultaneously receiving feedback from sensors to form a stable closed-loop control. The core of a control system is usually composed of microcontroller chips such as microcontrollers or DSPs, which are programmed to achieve the desired functions.

The types of robotic arms can be divided into hydraulic, pneumatic, electric, and mechanical based on their driving methods; According to the scope of application, it can be divided into two types: specialized robotic arms and general-purpose robotic arms; According to the motion trajectory control method, it can be divided into point control and continuous trajectory control for robotic arms. Mechanical arms are commonly used as additional devices for machine tools or other machines, such as loading, unloading, and transferring workpieces on automatic machine tools or production lines, replacing tools in machining centers, etc. They generally do not have independent control devices. Some operating devices require direct manipulation by humans, such as the master-slave manipulator used in the atomic energy department to handle hazardous materials, which is also commonly referred to as a robotic arm. The application of robotic arms in the forging industry can further develop the production capacity of forging equipment and improve working conditions such as heat and fatigue. The development of robotic arms began in the United States. In 1958, United Control Corporation of the United States developed the first robotic arm.