(Solved): Consider the following 2D representation of a robotic arm. The end effector(point D) needs to be ab ...

Consider the following 2D representation of a robotic arm. The end effector(point D) needs to be able to reposition itself with an accuracy of \pm .01 ". Please specify the PPR and maximum sampling frequency for joints $ABC$ given a maximum speed of 20 RPM for each joint. Note: all dimensions are linear and form joint center to cente