SCARA
（重定向自SCARA robot）
![Kinematic diagram of SCARA configuration](/Images/godic/202502/09/SCARA_configuration3614.png")
![SCARA left.gif](/Images/godic/202502/09/SCARA_left3614.gif")
![SCARA right.gif](/Images/godic/202502/09/SCARA_right3614.gif")
![5R robot.gif](/Images/godic/202502/09/5R_robot3614.gif")
The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm.
In 1981, Sankyo Seiki, Pentel and NEC presented a completely new concept for assembly robots. The robot was developed under the guidance of Hiroshi Makino, a professor at the University of Yamanashi. The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes.