Question: 1. The D-H frame assignment for a SCARA robot is pictured here: 21 02 yi d3 21 20 Y2 .13 Yo 43 14 23, 24

1. The D-H frame assignment for a SCARA robot is pictured

1. The D-H frame assignment for a SCARA robot is pictured here: 21 02 yi d3 21 20 Y2 .13 Yo 43 14 23, 24 Based on this frame assignment, find the D-H parameters for each link. Joint ai Oi ai ai 1 2 Az Lololo di 0 0 d d4 0 3 0 4

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