Figure $1$ shows a four$-$axis manipulator with one revolute joint, a prismatic joint and another two revolute joints. Note that $\backslash (\backslash$theta$\_\{1\},$ d$\_\{2\},\backslash$theta$\_\{3\}\backslash ),$ and $\backslash (\backslash$theta$\_\{4\}\backslash )$ are variables, while $\backslash ($ l$\_\{1\},$ l$\_\{2\}\backslash )$ and $\backslash ($ l$\_\{3\}\backslash )$ are constants.

Figure $1$: Four axis manipulator

$($i$)$ Assign coordinate frames to the above four axis manipulator using the DenavitHartenberg algorithm. NOTE: You must draw your manipulator arm and coordinate frames on a separate piece of paper or on your device $($i$.$e$.,$ do not draw your frames on this page$).$

$($ii$)$ Derive from the result of part $($i$)$ a table containing the Denavit$-$Hartenberg parameters $($link and joint parameters$)$ of the given manipulator. NOTE: You must write your completed table on a separate piece of paper or on your device $($i$.$e$.,$ do not fill in the table on this page$).$

Table $1$: The Denavit$-$Hartenberg parameters table