The mechanical structure of industrial robots mainly includes fuselage, arm, wrist and end effector. The fuselage is the basic part of the robot, which supports and connects other components. The arm is generally composed of a number of joints and connecting rods, similar to the human arm, which can achieve telescopic, pitching, rotating and other movements to reach different positions in the work space. The end effector is the part that is directly in contact with the workpiece or the working environment, and can be a welding gun, spray gun, suction cup, clamp and other forms according to different job tasks. For example, in the automotive production line, the robotic end effectors used to move auto parts are usually grippers that can firmly grasp parts of various shapes.