Denavit-Hartenberg Frame Assignments

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The discussion focuses on the assignment of coordinate frames to an RPR robotic structure using Denavit-Hartenberg notation. The user has made two attempts at the problem but is uncertain about their correctness. They have provided links to images of their attempts for review. The user is seeking assistance to determine the right approach. Clarification on the Denavit-Hartenberg frame assignments is requested to ensure accurate representation.
MRL
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Homework Statement


I'm required to assign co-ordinate frames to an RPR robotic structure, using the Denavit-Hartenberg notation.


Homework Equations


N/A


The Attempt at a Solution


I've made the following two attempts at the problem, but i aren't sure which, if any, is correct:
http://img848.imageshack.us/i/pic1c.png/
http://img835.imageshack.us/f/pic2wk.png/

Any help would be appreciated. Thanks.
 
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Is anyone able to help please?
 

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