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Determine the a matrices of this robot what is the position

Given 3-degrees of freedom manipulator with prismatic joints, as well as the following questions:

a) Assign the X and Z axes and determine the Denavit-Hartenberg parameters of this robot.

b) Determine the A matrices of this robot.

c) What is the position of the end effector with respect to the base of the robot in the specified configuration?

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Mechanical Engineering: Determine the a matrices of this robot what is the position

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Mechanical Engineering: Determine the a matrices of this robot what is the position

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