Question: SOLVE QUESTION 4 shown below Problem 4(12 marks) The arm with three degrees of freedom shown in Figure Q4 is like the 3R planar arm,

SOLVE QUESTION 4 shown below

Problem 4(12 marks) The arm with three degrees of freedom shown in Figure Q4 is like the 3R planar arm, except that Joint 1's axis is not parallel to the other two. Instead, there is a twist of 90 degrees in magnitude between Joints (Axes) 1 and 2. Note that no is need be defined. Figure Q4: 3R nonplanner arm. (a) Copy Figure Q4 to your submission and show the dened link frames in the gure. (b) Determine the link parameters and list the results in the following table. Ctr1 (Ii1 di 9i mtgHm (c) Derive the kinematic equations for gT

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