Figure P$\mathrm{.}2\mathrm{.}37$

$2\mathrm{.}38$ A special $3-$DOF spraying robot has been designed as shown. The reset position is when the arms are horizontal.

Assign the coordinate frames based on the D$-$H representation.

Fill out the parameters table.

Write all the A matrices.

Write the $^($U$)$T$\_($H$)$ matrix in terms of the A matrices.

Please Solve and Show and explain each step thank you