From a website called robots.com, which is a great URL, but which otherwise has broken links,
The SCARA or Selective Compliant Assembly (or Articulated) Robot Arm robot provides a circular work envelope.
Here’s from allaboutcircuits.com
Articulated vs. SCARA vs. Cartesian Robots
Hmm. interesting. I think we’re doing an Articulated build for the gripper. It will need Z axis movement. But SCARA is cool if you don’t need Z axis (up down).