Three identical SRS open-chain arms are grasping a common object, as shown in Figure 1. spherical joint revolute joint Figure 1 Three cooperating SRS arms grasping a common object. (a) Find the number of degrees of freedom of this system. (b) Suppose there are now a total ofn such arms grasping the object. How many degrees of freedom does this system have? (c) Suppose the spherical wrist joint in each of the n arms is now replaced by a universal joint. How many degrees of freedom does this system have?