(50%) Find the coordinate transformation matrices ( oA1, 1A2, 2A3, 3A4, 4As ) of a robot, as shown below, in terms of the variables O1, 02, 03, O4, Os and the constant distance di, a1, a2, a3, ds, and any constant angles (90 or -90°). Providing,

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A: Given: Gear ratio

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A:

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A:

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A:

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Classification of types of corrosion

Corrosion is described as the process in which a certain element is degraded or deteriorated due to the presence of multiple chemicals in the surrounding. Generally, corrosion happens if all the subatomic particles on a metallic object are oxidized, for example, rust on iron structures. In air or water, metals lose electrons to other particles (like oxygen), leading to the formation of an oxide with the metal.