Figure 1 shows a schematic 3R planar robot which has 3 revolute joints, used to represent 1 fully actuated robot finger. YB 1 YE E L03 XB Figure 1: A fully actuated robot finger is modeled as a 3 revolute planar robot manipulator (a) Analyse the kinematics of the robot finger shown in Figure 1 by the following steps: (i) Draw the equivalent schematic (skeleton) diagram showing the revolute joints to analyse its kinematic configuration. (ii) With the aid of diagram (to be drawn), analyse the link configuration by obtaining the D-H parameters for the 1 robot finger. (Show your coordinate frame and base frame) (iii) Extract the coordinate of the tip point of the robot finger in the base Cartesian coordinate frame.