Link parameters-kinematic modelling of a planar robot

Question

Assignment 1: Link parameters
 
A) Draw a CAD model of an RR link shown in figure. You may represent an R joint as in figure below or using a cylinder.

B) Create a coordinate frame on the link following the D-H convention.

C) The parameters shown in figuer below are different from the D-H link parameters. Give the D-H parameters of the link.

Assignment 2: Kinematic modelling of a planar robot

A) Create a CAD model of the planar robot and the target object shown in figure below using a CAD software.

B) Derive the matrice T_o^g, T_o¹, T₁², T₂³, T₃^p

c) Obtain T_o^p using CAD software.

d) Verify T_o^p = T_o¹ T₁² T₂³ T₃^p

e) Can the end-effector reach the target?

f) Verify whether the following equation is true:

T₃^pT₂³T₁²T_o¹ = T_o¹ T₁² T₂³ T₃^p