Q$\mathrm{.}2)$ Draw and articulate the reachable workspace of a $2-$link serial planner manipulator

robot having $2$DOF actuation through $2$ revolute joints. The rigid links having lengths $a_1$

and $a_2,$ with $a_1>a_2$ and the range of the joint angles be $0{}_1\frac{3}{2}$ and $0{}_2-.$

Justify your answer.

$($CO$2,8$ marks$)$