signed academic integrity statement at the top $($see specification above$).$

Consider the following multiple link RPP manipulator, with given DH frame assignments. Notice.

The zero frame is fixed,

The three frame is situated at the gripper $($end effector$),$

For the configuration being illustrated, the $x-$axis for each frame points out of the screen $($toward you$),$ and

$$ represents angular displacement of the revolute joint.

Please provide work $/$ rationale for each part to be eligible for full credit. Include your printed name and signed academic integrity statement at the top $($see specification above$).$

Consider the following multiple link RPP manipulator, with given DH frame assignments. Notice.

The zero frame is fixed,

The three frame is situated at the gripper $($end effector$),$

For the configuration being illustrated, the $x-$ axis for each frame points out of the screen $($toward you$),$ and

$$ represents angular displacement of the revolute joint.