Question: Four identical SRS arms are grasping a common object as shown below. a. Find the number of degrees of freedom of this system while the

Four identical SRS arms are grasping a common object as shown below. a. Find the number of degrees of freedom of this system while the grippers hold the object rigidly (no relative motion between the object and the last links of the SRS arms). Your answer should be an integer. b. Suppose there are now a total of n arms grasping the object. What is the number of degrees of freedom of this system? Your answer should be a mathematical expression including n. Examples of mathematical expressions including n are 4n-7 or n/3. c. Suppose the revolute joint in each of the n arms is now replaced by a universal joint. What is the number of degrees of freedom of the overall system? Your answer should be a mathematical expression including n. Examples of mathematical expressions including n are 4n-7 or n/3.

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