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对ＳＣＡＲＡ 型操作臂的Ｃ 空间作了深入研究，证明了凸多边形障碍物在ＳＣＡＲＡ型操作臂的Ｃ空间中形成一连通的障碍物子空间。依据此定理本论文给出一个双臂ＳＣＡＲＡ 型机器人Ｃ空间快速建立算法，算法通过了仿真实验，证明算法可行，效率较高。
The C space of the SCARA manipulator is studied in depth, which proves that the convex polygon obstacle forms a connected obstacle subspace in the C space of the SCARA manipulator. According to this theorem, this paper gives a C-space rapid establishment algorithm of SCARA robot with double arms. The algorithm passes the simulation experiment, which proves that the algorithm is feasible and has high efficiency.