Question: The spatial PRRPRR open chain robot arm is shown in figure below. The zero position, the base (spatial) {0} and the end effector (body) {}

The spatial PRRPRR open chain robot arm is shown in figure below. The zero position, the base (spatial) {0} and the end effector (body) {} frames are as shown in figure. Determine the screw axes in {}.

The spatial PRRPRR open chain robot arm is shown in figure below.

L {0} tom o 01 yo 02 L 03 L L {b} b 1104 06 05 L b * L L Xb L L L {0} tom o 01 yo 02 L 03 L L {b} b 1104 06 05 L b * L L Xb L L

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