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