3 DOF planar RRP type robot manipulator is shown in Figure 1.

(a) (10 pts.) Draw coordinates frames of each joint.
(b) (25 pts.) Find the forward kinematics equation of the given robot manipulator.
(c) (25 pts.) Calculate the end-effector position (x3, y3) when θ1 = π/4, θ2 = π/6, and
d3 = 10cm.