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Please see the attachment for a diagram of the robot in question which is a 3-degrees of freedom manipulator with prismatic joints, as well as the following questions:

a) Assign the X and Z axes and determine the Denavit-Hartenberg parameters of this robot.
b) Determine the A matrices of this robot.
c) What is the position of the end effector with respect to the base of the robot in the specified configuration?
Refer to attachment

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Solution Summary

The solution shows how to answer the question with the aid of diagrams and explanation of relevant theory.

Solution Preview

Use the standard approach and select the appropriate coordinates. See attached for solution including diagrams.

Solutions:
a) Since a link is a rigid body, the robot contains four links (base, L-shape arm, circular rotator, tool). A joint connects two links together. Then, the number of joints is three. And the robot is three-axis.
Following the Denavit-Hartenberg algorithm, the link coordinate diagram can be drawn as

The coordinate subscript 2 coincides with the coordinate subscript 1.
And the parameters can be found as
l(cm) d(cm) (degree) ...

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