ion FIVE
Define the following terms
(i) Mapping:
(ii) Degrees of freedom
(iii) Manipulator structure
[6 marks]
b) Consider the rigid body shown in Figure (5) (a). Calculate the total wrench acting on the body, when the forces and torques are as shown in the diagram. Also tind the pitch and axis of this total wrench. torques shown, find the reaction wrenthes ... the [14 marks]
Figure Q5