Keep in mind that the same kinematic structure can have a variety of physical

mechatronics designs. Sketch a suitable mechatronic design of the spatial manipulator

I mechanism, including:

The actuator type, its location and how it it mounted for each degree of freedom

Power transmission and ior motion transmission $($i needed$)$

The design of the frame, joints, and linkages and how they are mounted

What sort of sensing system would you use to ensure that the spray head is kept

approximately $150$ mm away from the inside surface of the pipe?