4. Four identical SRS arms are grasping a common object as shown below. Spherical Joint Revolute Joint Find the number of degrees of freedom of this system while the grippers hold the object rigidly (no relative motion between the object and the last links of the SRS arms). Your answer should be an integer. 20 Incorrect Hint: When the grippers hold the object rigidly, the object plus the last links of each robot together act as a single rigid body (link). 5. Referring back to Question 4, suppose there are now a total of n such arms grasping the object. What is the number of degrees of freedom of this system? Your answer should be a mathematical expression including n. Examples of mathematical expressions including n are 4 * n - 7 orn/3. 5n