To accurately machine or otherwise process a work part, an NC positioning system must possess a high degree of precision. Three measures of precision can be defined for an NC positioning system: (1) control resolution, (2) accuracy, and (3) repeatability. Stepper motors are used to drive the two axes of a component placement machine used for electronic assembly. A printed circuit board is mounted on the table and must be positioned accurately for reliable insertion of components into the board. Range of each axis = 700 mm. The lead screw used to drive each of the two axes has a pitch of 3.0 mm. The inherent mechanical errors in table positioning can be characterized by a Normal distribution with standard deviation = 0.005 mm. If the required accuracy for the table is 0.04 mm. Determine: 1.1.1 the number of step angles that the stepper motor must have. (3) 1.1.2 how many bits are required in the control memory for each axis to uniquely identify each control position. (3) Question 2 2.1 A robot manipulator can be divided into two sections: a body-and-arm assembly and a wrist assembly. The function of body-and-arm assembly is to position an end effector (e.g., gripper, tool) in space. Argue the five types of common body-and-arm configurations for industrial robots. Use diagrams to illustrate these types of robots. (24) [TOTAL