EXAMPLE $3\mathrm{.}3$

Figure $3\mathrm{.}6($a$)$ shows a three$-$link planar arm. Because all three joints are revolute,

this manipulator is sometimes called an $RRR($or $3R)$ mechanism. Fig. $3\mathrm{.}6($b$)$ is a

schematic representation of the same manipulator. Note the double hash marks

Chapter $3,$ Manipulator kinematics

$($a$)$

$($b$)$

$3\mathrm{.}1[15]$ Compute the kinematics of the planar arm from Example $3\mathrm{.}3.$