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 Consider the following features relating to Robot kinematics with reference to SCARA Robot:                          

1.   Shoulder and elbow rotational axes are vertical.

2.   The Robot could perform insertion tasks along the vertical direction.

3.   Its general configuration is analogous to that of a human arm.

         Which of the above features are correct?

         (a) 1 and 2 only              (b) 1 and 3 only

         (c) 2 and 3 only              (d) 1, 2 and 3

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