Question: Problem 1. Consider the RPR manipulator in the figure below. .x1 x2X3X4 Z2 Z4 Zo,Z1 out 23 out 2m d2 Assuming joint limits of 0-

Problem 1. Consider the RPR manipulator in the figure below. .x1

Problem 1. Consider the RPR manipulator in the figure below. .x1 x2X3X4 Z2 Z4 Zo,Z1 out 23 out 2m d2 Assuming joint limits of 0- reachable workspace of this arm. Be sure to label all appropriate dimensions on your sketch a. 1 360, 3 6 and-90- 3 90, sketch the b. Does this RPR manipulator's workspace have a hole in it? If so, outline them in your sketch (use a software program as PowerPoint, Visio, etc...), and calculate its area in the plane. How can you modify the joint limits to eliminate the hole? If not, explain why. Problem 1. Consider the RPR manipulator in the figure below. .x1 x2X3X4 Z2 Z4 Zo,Z1 out 23 out 2m d2 Assuming joint limits of 0- reachable workspace of this arm. Be sure to label all appropriate dimensions on your sketch a. 1 360, 3 6 and-90- 3 90, sketch the b. Does this RPR manipulator's workspace have a hole in it? If so, outline them in your sketch (use a software program as PowerPoint, Visio, etc...), and calculate its area in the plane. How can you modify the joint limits to eliminate the hole? If not, explain why

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