2. The RPR serial robot in the figure has a1 =a3 =2. The end-effector location is x=2, y=4, and De =90. ?? ai Figure 2: RPR Robot. (a) Determine the required joint configurations (revolute and prismatic) and show them on the figure. (b) Sketch an alternative solution to the reverse displacement analysis and the actuator displacements on your

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2. The RPR serial robot in the figure has a1 =a3 =2. The end-effector location is x=2, y=4, and De =90.   ?? ai Figure 2: RPR Robot. (a) Determine the required joint configurations (revolute and prismatic) and show them on the figure. (b) Sketch an alternative solution to the reverse displacement analysis and the actuator displacements on your sketch. (c) Determine condition(s) for a displacement singularity. If they do not exist, explain why.

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