SCARA(Selective Compliance Assembly Robot Arm,SCARA robots are also widely used in plastic industry, automobile industry, electronic product industry, pharmaceutical industry, food industry and other fields. Its main function is to pick up parts and assemble. Its first and second shafts have rotational characteristics, and the third and fourth shafts can be manufactured in a variety of different forms according to the needs of the work, and one has the characteristics of rotation and the other has the characteristics of linear movement. Due to its specific shape, its working range is similar to a sector area.