机械手按照关节的分布方式有串联式和并联式。串联式是在机器人主体的基础部分上串联一组连杆·关节,并在其前端配置抓取器(夹持部分)(如图1所示)。并联式是在基础部分上并联延伸一组连杆·关节,由前端操纵物体(如图2所示)。一般机械手大都是串联式。并联式的例子有多关节手指,在用三个手指抓取物体时,手指不单是 Robot distribution in accordance with the joint series and parallel. In series, a series of links and joints are connected in series to the base of the robot body, and a gripper (holding part) is arranged at the front end thereof (as shown in FIG. 1). In parallel, a series of links and joints are extended in parallel on the base part, and the object is manipulated by the front end (as shown in FIG. 2). Most robots are mostly in series. Parallel examples of multiple joint fingers, with three fingers to grab the object, the fingers not only