$1\mathrm{.}3$ A six$-$aisle automated storage$/$retrieval system is in an integrated factory$-$warehouse facility. The storage racks in each aisle are $25$ m high and $110$ m long. The S$/$R machine for each aisle travels at a horizontal speed of $3$ m$/$sec and a vertical speed of $0\mathrm{.}8$ m$/$sec$.$ Pick$-$and$-$deposit time of $15$ sec$.$ Assume that the number of single$-$command cycles$/$hr is equal to the number of dual$-$command cycles$/$hr and that the system operates at $80\%$ utilization. Determine the throughput rate $($loads moved$/$hr$)$ of the AS$/$RS$.(6)$

$1\mathrm{.}4$ Discuss the five different joint types of robots that form a series of joint$-$link combinations? $(10)$