Although a single arm is used, what is mentioned here is a forged walking beam driven by a multi-joint robot. This may involve the structural development of walking beams and the application of multi-joint robots. According to the content, the development of walking beams has gone through three stages. The fourth generation combines multi-joint robots with the characteristics of three-dimensional free trajectory and high positioning accuracy. This may have reference value for single-arm designs, as the flexibility and precision of multi-joints may be equally applicable to single-arm structures.