The screw axes Si = (wi, vi) are listed in the following table: Wi Vi 1 (0, 0, 1) (0,0,0) 2 (1,0,0) (0,0,0) 3 (0, 0, 0) (0,1,0) 4 (0, 1, 0) (0,0,0) 5 (1,0,0) (0, 0, -L1) 6 (0,1,0) (0,0,0) Note that the third joint is prismatic, so that w3 = : 0 and v3 is a unit vector in the direction of positive translation. Determine the end-effector frame screw axes Bi for the RRPRRR robot shown in the figure below: L1 L2 Zb b Xb (Source: Lynch Park, 2017, Figure 4.5) Show all work and submit your answer as a Word document.