Two-lag mechanism Figure 1: A (a) 3D model of a walking robot, consisting of 8 identical lag mechanisms called Klann linkage mechanisms and (b) its 2D schematic planar view. Show description a. Either by hand or on the computer, draw an exploded diagram of the one lag mechanism (coloured blue) shown in Figure 1(b). Clearly show each link and pair with numbering in your diagram. Provide a photograph of your drawing or a screenshot of your diagram as your answer to this part of the question. (10 marks) b. Now, on a separate drawing, produce a skeleton diagram of the two-lag mechanism (both blue and white lags) and label the: crank compound links three-link revolute pairs (5 marks) c. Explain whether the Klann linkage with two lags is a mechanism. Your answer should include a definition of the term 'mechanism' and an explanation of how it may be determined whether a system is a mechanism, as well as an analysis of this specific system. You should write no more than 250 words. (10 marks)