SCARA（Selective Compliance Assembly Robot Arm）It is a special type of industrial robot with cylindrical coordinates.

SCARA robot has 3 revolving joints whose axes are parallel to each other for positioning and orientation in the plane. The other joint is the translation joint, which is used to complete the movement of the end piece in a plane perpendicular to the plane.The position of the wrist reference point is the angular displacement φ1 and φ2 of the two rotating joints，and the displacement z of the moving joint is determined, that is, p = f (φ1, φ2, z). This type of robot has a light structure and fast response, such as the Adept1 SCARA robot, which can move up to 10m/s, which is several times faster than ordinary articulated robots. It is most suitable for plane positioning, vertical orientation of assembly operations.

SCARA system has compliance in the x,y direction and good stiffness in the Z direction, which is particularly suitable for assembly work, such as inserting a round pin into a round hole, so the SCARA system is first widely used to assemble printed circuit boards and electronic components; Another feature of SCARA is its two-pole structure, similar to a human arm, which can reach into a limited space and then retract, suitable for moving and handling objects, such as integrated circuit boards.

Today SCARA robots are also widely used in plastics industry, automobile industry, electronics industry, pharmaceutical industry and food industry and other fields. Its main function is to remove parts and assemble work.