Question $5(3\mathrm{.}5$p$)$: A SCARA$-$robot is shown in Figure $9$ with DH frames.

$-$ What is the mobility of the robot $(0\mathrm{.}25)?$

$-$ Determine Table of D$-$H parameters $(0\mathrm{.}75$p$)$

$-$ Find global coordinate of the end$-$point $($O$4)$ in symbolic form, then check the result at the current configuration $($position$)$; $(0\mathrm{.}75$p$)$

$-$ Find he orientation of the gripper $($Direction of X$4$ reference to X$0)$ in symbolic form, then check the result at the current configuration $($position$)$; $(0\mathrm{.}25$p$)$

$-$ Find Geometric Jacobian of the Robot $(0\mathrm{.}5)$

$-$ Find velocity of the end$-$point O$4$ as the function of joint variables $(0\mathrm{.}5$p$)$

$-$ Find the static force at the end point of the robot as a function of join forces$/$torques $(0\mathrm{.}5)$