SECTION A 1- A1. Consider the SCARA robot shown in Figure QA1 shown at its soft home position. The joint distances d and link lengths a are the following: d = [d, 0.0, d, d4] mm where d4 is the tool length, d3 is a prismatic variable and d is the length from the base to shoulder. a = [a1, a2, 0.0, 0.0] mm. Soft home position q = [0.0, 0.0, 100.00, 1/2] (a) Construct the link-coordinate diagram using the Denavit-Hartenberg algorithms provided. [25%] (b) List the kinematic parameters of the robot in terms of the link lengths and joint distances provided on a table. [25%] (c) Show that the arm matrix of this robot are the following. Hint: Use Ck cos qk and Sksin qk- (d) S-20 aC + aC1-2 S-2-4-C-2-4 0 a S + aS-2 0 0 -1 base 0 0 0 1 Evaluate the arm matrix at position q = [6, -6, 110.00, 2]. d BASE ELBOW TOOL ROLL TOOL Vertical extension Figure QA1: The SCARA Robot. d [35%] [15%]