Please draw the two cases for Work Envelope of the Robot Simulator!

The task in this section is to sketch the work envelope of the Robot Arm simulator. Since the work envelope is an imaginary surface consisting of all the points which are reachable by the tip of the simulator, the task is somewhat difficult. In order to simplify the task, two special cases which constrain the elevation angle 1 in two different ways will be focused on: CASE 1: The elevation angles are maintained at same value 1=2, thus both links, L1 and L2, of the robot arm simulator are constrained to lie along the same line. Draw the work envelope if the unified elevation angle =1=2 and azimuthal angle are permitted to change freely. 59 - CASE 2: The elevation angle of the lower link is maintained at zero, thus 1=0. The link L1 is constrained to lie along the xy-plane (or as close as possible to it). Draw the work envelope if the azimuthal angle and second elevation angle 2 are permitted to change freely