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At present, industrial robots on the market are divided into two categories, one is a four-axis robotic arm, which is suitable for handling and assembly of smaller loads, and the stroke is short, mainly for the work of the countertop type, for the movement of planes. One type is a six-axis manipulator. The six-axis manipulator has two more rotating axes than the four-axis manipulator. It can complete the movement of three-dimensional trajectory and is widely used in handling, loading and unloading, grinding, welding and other processes. The industry of six-axis manipulators is relatively much wider than the four-axle, but most of them are large-load, long-stroke products. With the development of the industry, the application of small six-axis robotic arms is becoming more and more widespread.

The development of the small six-axis manipulator is due to the limitations of the four-axis manipulator, which allows the multi-faceted ability of the small six-axis to be demonstrated. Because the four-axis manipulator can only move in a plane, which is difficult to achieve in many ways, the six-axis manipulator can maximize efficiency in a limited space and can be completed in a narrow space to meet the needs of the customer's organization.