工業機器人按臂部(bu)的(de)(de)運動(dong)形式分為(wei)四種。直(zhi)(zhi)角(jiao)坐(zuo)標型的(de)(de)臂部(bu)可沿三(san)個(ge)直(zhi)(zhi)角(jiao)坐(zuo)標移動(dong)；圓柱坐(zuo)標型的(de)(de)臂部(bu)可作升降、回轉(zhuan)(zhuan)和伸縮動(dong)作；球坐(zuo)標型的(de)(de)臂部(bu)能回轉(zhuan)(zhuan)、俯(fu)仰和伸縮；關節型的(de)(de)臂部(bu)有多個(ge)轉(zhuan)(zhuan)動(dong)關節。

工業(ye)機(ji)(ji)(ji)器(qi)人由(you)主體(ti)、驅動(dong)(dong)(dong)(dong)系(xi)統(tong)(tong)和控(kong)制系(xi)統(tong)(tong)三個基本部(bu)分組成。主體(ti)即機(ji)(ji)(ji)座和執行(xing)(xing)機(ji)(ji)(ji)構，包括臂部(bu)、腕(wan)部(bu)和手部(bu)，有的機(ji)(ji)(ji)器(qi)人還有行(xing)(xing)走機(ji)(ji)(ji)構。大多數工業(ye)機(ji)(ji)(ji)器(qi)人有3～6個運動(dong)(dong)(dong)(dong)自由(you)度，其中(zhong)腕(wan)部(bu)通常有1～3個運動(dong)(dong)(dong)(dong)自由(you)度；驅動(dong)(dong)(dong)(dong)系(xi)統(tong)(tong)包括動(dong)(dong)(dong)(dong)力(li)裝置和傳動(dong)(dong)(dong)(dong)機(ji)(ji)(ji)構，用以使(shi)執行(xing)(xing)機(ji)(ji)(ji)構產生相應的動(dong)(dong)(dong)(dong)作；控(kong)制系(xi)統(tong)(tong)是按照輸入的程(cheng)序對驅動(dong)(dong)(dong)(dong)系(xi)統(tong)(tong)和執行(xing)(xing)機(ji)(ji)(ji)構發(fa)出指令信號，并進行(xing)(xing)控(kong)制。