Problem $3.[10$ Marks$]$

$($a$)$ Figure indicates a PPP $($Prismatic$)$ robot in its home position. $($a$)$ Develop the

coordinate frames. $($b$)$ Determine the velocity of end point C$.$ Data: $d_1=800mm,d_2=$

$750mm,d_3=280mm,d_1^{}=13m\frac{m}{sec,d_2^{}}=8m\frac{m}{sec}$ and $d_3^{}=24m\frac{m}{sec}.[5$ Marks$]$