Dead-zone-free four-axis SCARA robot

The invention discloses a dead-zone-free four-axis SCARA robot. The dead-zone-free four-axis SCARA robot comprises a base, a first mechanical arm and a second mechanical arm. The first mechanical armand the base are connected through a first shaft driving device. The first shaft driving device drives the first mechanical arm to rotate by the angle greater than 360 degrees. The first mechanical arm and the second mechanical arm are connected through a second shaft driving device. A connecting line in the base and the second mechanical arm sequentially penetrates through the first shaft drivingdevice, the first mechanical arm and the second shaft driving device. Traditional wire tubes are omitted, the mode that electric wires are internally provided with channels for wiring is adopted, a motor and a harmonic reducer which are adopted by the robot are of a hollow structure, through a hollow shaft structure, the electric wires can penetrate from the channels of the hollow shafts, when the mechanical arms rotate,