Selective Compliant Assembly Robot Arm(SCARA) ( SCARA ) which is widely used in industrial production has selective spacial compliance, and suitable for repetitive tasks such as handling, welding and assembly. 平面关节型(SCARA)机器人具有空间选择柔性,非常适合执行搬运、焊接和装配等重复性任务,因此在工业生产中得到广泛应用。