A SCARA robot manipulator is illustrated in Figure Q1. It is equipped with a rotational joint at the base O, a linear joint in the vertical direction, and another rotational joint in the horizontal direction. If the linear joint could slide for 1.22m, both rotational joints could turn ±135 degrees from the position drawn in the graph, the first link length is 2m, the second link length is 0.8m:
1.Draw the end-effector E reachable area on the horizontal plane in a top-view graph. Ignore the movements in the vertical direction.
2.Volume of the 3 dimensional reachable space for the manipulator?