As will be seen, {HEAD ~ the two arms} 30 and 38 permit {TAIL ~ movement} in five of the degrees of freedom, linear along the Z and X axes and rotation about the X, Y and Z axes 
permit
As will be seen , { HEAD ~ the two arms } 30 and 38 permit { TAIL ~ movement } in five of the degrees of freedom , linear along the Z and X axes and rotation about the X , Y and Z axes
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH