Question $1/25$ mark $1$

Figure Q$1-1$: An excavator boom mechanism teaturing rotational joints and linear hydraulic actuators

$($a$)$ For the excavator boom mechanism shown in Figure Q$1-1$:

$($i$)$ Identify and number each link and joint, and determine the

joint types $($e$.$g$.\backslash ($ j$\_\{1\}\backslash )$ or $\backslash ($ j$\_\{2\}\backslash )$ joints$)$

$($ii$)$ Compute the Kutzbach mobility and explain what its value

implies for this mechanism and the control of motion.