(a) For the information given in the mechanical gripper design of Figure 1, calculate the required actuating force if the gripper force is to be 20 N. (b) A vacuum pump to the used in a robot vacuum gripper application is capable of drawing a negative pressure of 25 kPa compared to atmospheric pressure. The gripper is to be used to lift stainless steel plates, each plate having dimensions 45 by 90 cm and weighing 130 kg. Determine the diameter of the suction cups to be used for the robot gripper if it has been decided that two suction cups will be used for greater stability. A factor of safety of 1.5 should be used in the design computations. F-20 N F-20 N Figure 1 (linear dimensions in cm) 4.25 3.0 1.5