Question $5(4\mathrm{.}0p)$ : A robot is shown in Figure $7$

What type $($name$)$ this robot is$?$ What is the mobility of the robot $(0\mathrm{.}5)?$

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

Find global coordinate of the end$-$point $($E$)$ 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$)$; $(0\mathrm{.}5$p$)$

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

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

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

Figure $7$