并在此基础上，利用智能理论，建立一个基于层次的平面关节型机器人故障诊断智能系统。
On the basis of this foundation and utilizing intellectual theory an intellectual system for trouble diagnosis of planar joint typed robot was established based on layers.
平面关节型(SCARA)机器人具有空间选择柔性，非常适合执行搬运、焊接和装配等重复性任务，因此在工业生产中得到广泛应用。
Selective Compliant assembly Robot Arm (SCARA) which is widely used in industrial production has selective spacial compliance, and suitable for repetitive tasks such as handling, welding and assembly.
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