Content
Part one:Direct Kinematic analysis of a Biglide
Geometric analysis
The direct geometric model which gives [x, y] = dgm(q1,q2,gamma)(Two prismatic joints are actuated)
We know the position of A 1 ( − d 2 , q 1 ) A_1(-\frac{d}{2},q_1) A1(−2d,q1) and A 2 ( d 2 , q 2 ) A_2(\frac{d}{2},q_2) A2(2d,q2),thus point H is the mid-point of A 1 A_1 A1 and A 2 A_2 A2,its position is ( 0 , q 1 + q 2 2 ) (0,\frac{q_1+q_2}{2}) (0,2q1+q2).
- Compute the vector A 2 H → \overrightarrow{A_2H} A2H A 2 H → = H − A 2 = ( − d 2 , q 1 − q 2 2 ) \overrightarrow{A_2H}=H-A_2=(-\frac{d}{2},\frac{q_1-q_2}{2}) A2H=H−A2=(−2d,2q1−q2)
- There are two solutions for the point A 13 , obtained by the 9 0 o 90^o 90o rotation of the vector A 2 H → \overrightarrow{A_2H} A2H, normalization and multiplying by the
distance h, giving H C → = γ h a [ 0 − 1 1 0 ] A 2 H → \overrightarrow{H C}=\gamma \frac{h}{a}\left[\begin{array}{cc} 0 & -1 \\ 1 & 0 \end{array}\right] \overrightarrow{A_{2} H} HC=γah[01−10]A2H
where a = ∣ ∣ A 2 H → ∣ ∣ a=|| \overrightarrow{A_{2} H}|| a=∣∣A2H∣∣ and h = l 2 − a 2 h=\sqrt{l^2-a^2} h=l2−a2
O C → = O O 2 → + O 2 A 2 → + A 2 H → + H C → O C → = [ d 2 0 ] + [ 0 q 2 ] + [ − d 2 q 1 − a 2 2 ] + γ h a [ 0 − 1 1 0 ] [ − d 2 q 1 − q 2 2 ] \overrightarrow{OC}=\overrightarrow{OO_2}+\overrightarrow{O_2A_2}+\overrightarrow{A_2H}+\overrightarrow{HC}\\ \overrightarrow{OC}=\left[\begin{array}{c} \frac{d}{2} \\ 0 \end{array}\right]+\left[\begin{array}{c} 0 \\ q_2 \end{array}\right]+\left[\begin{array}{c} -\frac{d}{2} \\ \frac{q_1-a_2}{2} \end{array}\right]+\gamma\frac{h}{a}\left[\begin{array}{cc} 0&-1 \\ 1&0 \end{array}\right]\left[\begin{array}{c} -\frac{d}{2} \\ \frac{q_1-q_2}{2} \end{array}\right] OC=OO2+O2A2+A2H+HCOC=[2d0]+[0q2]+[−2d2q1−a2]+γah[01−10][−2d2q1−q2]
Thus we have x = O C → ( 1 ) y = O C → ( 2 ) x=\overrightarrow{OC}(1) \\y=\overrightarrow{OC}(2) x=OC(1)y=OC(2)
The model which gives the passive angle position [ ϕ 1 \phi_1 ϕ1 ϕ 2 \phi_2 ϕ2] = passive angles(x,y,q1,q2)
O C → = O O i → + O i A i → + A i C → \overrightarrow{OC}=\overrightarrow{OO_i}+\overrightarrow{O_iA_i}+\overrightarrow{A_iC} OC=