5) i) A two axes of an x-y positioning table are each driven bya stepping motor connected to a lead screw with a 10:1 gearreduction. The number of step angles on each stepping motor is 25.Each lead screw has a pitch = 7.5 mm and provides an axis range =300 mm. There are 16 bits in each binary register used by thecontroller to store position data for two axes. (a) What is thecontrol resolution of each axis? (b) What are the requiredrotational speeds and corresponding pulse train frequencies of eachstepping motor in order to drive the table at 600 mm/min in astraight line from point (25,25) to point(100,150)?      (10)

ii) The designer of a polar configuration robot is considering aportion of the manipulator consisting of a rotational jointconnected to its output link. The output link is 25 in long and therotational joint has a range of 75 degrees. The accuracy of thejoint-link combination, expressed as a linear measure at the end ofthe link which results from rotating the joint, is specified as0.030 in. The mechanical inaccuracies of the joint result in arepeatability error= +-0.03 degrees of rotation. It is assumed thatthe link is perfectly rigid, so there is no additional error due todeflection. (a) Show that the specified accuracy can be achieved,given the repeatability error. (b) Determine the minimum number ofbits required in the binary register of the robot’s control memoryto achieve the specified accuracy.    (10)