Design a 4-link kinematic chain working on the two-dimensional plane anchored at the origin. Your robot should have two prismatic and two revolute joints. (One of these joints will link the robot to...

Design a 4-link kinematic chain working on the two-dimensional plane anchored at the origin. Your robot should have two prismatic and two revolute joints. (One of these joints will link the robot to the origin.) You can arrange these links and joints in any manner you wish. Precisely indicate the link lengths and the joints in your sketch. Assume that the prismatic joints have a range of motion of one half of the link length and that the revolute joints can be rotated plus or minus 45◦ from their nominal rest position as indicated in your sketch.