Unless otherwise indicated, all the problems are from the course text, Craig, Introduction to Robotics. Unless otherwise indicated, each problem is worth 10 points.

1. In Homework 2, you determined the forward kinematics for the mechanism in problem 3.18, Figure 3.38. Assume that we are interested in the (x,y,z) location of the end effector (note that you will have to add a frame at the end effector -- before your forward kinematic computations only went to the frame attached to the last link at the axis of rotation). Assume that each joint angle is 30^o.
   1. What is the direction of the maximum mechanical advantage?
   2. What is the direction of the maximum velocity amplitude?
2. In Homework 2, you determined the forward kinematics for the mechanism in problem 3.20, Figure 3.40. Assume that we are interested in the (x,y,z) location of the end effector. Assume that d₁ = 0 and that the two revolute joint angles are 30^o
   1. What is the direction of the worst velocity amplitude?
   2. What is the direction of the worst mechanical advantage?
3. In Homework 3, you determined the forward kinematics for the mechanism in problem 3.21, Figure 3.41. Assume that we are interested in the (x,y,z) location of the end effector. Assume that d₁ = 2, d₂ = 1 and d₃ = 4.
   1. What is the direction of the maximum force fidelity?
   2. What is the direction of the maximum velocity fidelity?