The types of manipulators can be divided into hydraulic, pneumatic, electric, and mechanical manipulators according to the driving mode; they can be divided into special manipulators and general manipulators according to the scope of application; they can be divided into point control and continuous trajectory control manipulators according to the motion trajectory control mode. Manipulators are usually used as additional devices for machine tools or other machines, such as loading and unloading and transferring workpieces on automatic machine tools or automatic production lines, changing tools in machining centers, etc., and generally do not have independent control devices. Some operating devices need to be directly operated by people, such as the master-slave operator used in the atomic energy department to handle dangerous goods, which is also often called a manipulator. The application of manipulators in the forging industry can further develop the production capacity of forging equipment and improve labor conditions such as heat and fatigue.
The manipulator was first developed in the United States. In 1958, the United Controls Company of the United States developed the first manipulator.