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The SCARA arm (for Selective Compliant Articulated Robot for Assembly) shown in Figure 1.14 is a popular manipulator, which, as its name suggests, is tailored for pick-and-place and assembly operations. Although the SCARA has an RRP structure, it is quite different from the spherical manipulator in both appearance and in its range of applications. Unlike the spherical design, which has z₀ perpendicular to z₁, and z₁ perpendicular to z₂, the SCARA has z₀, z₁, and z₂ mutually parallel. Figure 1.14 shows the symbolic representation of a SCARA arm and the Yamaha YK-XC manipulator.

Figure 1.14 The ABB IRB910SC SCARA robot (left) and the symbolic representation showing a portion of its workspace (right). (Photo courtesy of ABB.)