The robot in Figure Q$1$ consists of rotary joints $1$ and $2,$ prismatic joint $3,$ and a single

degree$-$of$-$freedom wrist $($roll$)$ as joint $4,$ as shown.

$($a$)$ On the extra copy of Figure Q$1$ that you have been provided with, assign

appropriate and full reference frames to the base and to each of the four moving

links of the robotic system, using the Denavit$-$Hartenberg $($D$-$H$)$ representation.

Attach the sheet to your script as part of your answer to Question $1.$

$($Note: The origins and z$-$axes of the base and tool should be retained as shown in

the figure. Assign link dimensions where appropriate, e$.$g$.l_1,l_2.)$

$(12$ marks$)$

$($b$)$ Reproduce in your script and complete the following table of D$-$H kinematic

parameters for the robotic system.