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What is the difference between a robot arm-and-body section and a robot wrist?

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Humanoid robot — robot ASIMO, a two-legged humanoid robot developed by the Honda Motor Co.

In industrial robotics, the mechanical manipulator is divided into two distinct sections, each serving a specific functional purpose:1

Arm-and-body: This section typically consists of three joints connected by large links. Its primary function is to move and position parts or tools within the robot’s designated work space.1
Wrist: This section consists of two or three compact joints. Its primary function is to orient the parts or tools once they have reached the desired work location.1

While the arm-and-body determines the robot's reach and work envelope, the wrist provides the necessary dexterity to manipulate tools or components at the point of operation. A gripper is attached to the wrist to perform specific tasks, such as grasping a work part or holding a tool like a spot-welding gun.1