Question $4)(15$ points$)$ A planar $3$R open chain has link lengths $($starting from the base$)$ of $\backslash (5\backslash$mathrm$\{$~cm$\},2\backslash$mathrm$\{$~cm$\}\backslash ),$ and $1$ cm $,$ respectively. a$)$ Draw the workspace of the tip. b$)$ Now consider a $3$R chain with link lengths of $\backslash (1\backslash$mathrm$\{$~cm$\},2\backslash$mathrm$\{$~cm$\},5\backslash$mathrm$\{$~cm$\}\backslash ),$ respectively. Draw its workspace and determine whether the workspace is larger than the workspace of part $\backslash ($ b $\backslash ).$