The spatial PRRPRR open chain robot arm is shown in figure below. The zero position, the base (spatial) {0} and the end effector (body) {} frames are as shown in figure. Determine the screw axes in {}.

L {0} tom o 01 yo 02 L 03 L L {b} b 1104 06 05 L b * L L Xb L L L {0} tom o 01 yo 02 L 03 L L {b} b 1104 06 05 L b * L L Xb L L