二并联杆的运动学分析求解末端执行器的位置，速度，加速度与系统输入的关系

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 $A_1(-\frac{d}{2},q_1)$ and $A_2(\frac{d}{2},q_2)$,thus point H is the mid-point of $A_1$ and$A_2$,its position is$(0,\frac{q_1+q_2}{2})$.

• Compute the vector $\overrightarrow{A_{2}H}$ $$\overrightarrow{A_{2}H}=H-A_2=(-\frac{d}{2},\frac{q_1-q_2}{2})$$
• There are two solutions for the point A 13 , obtained by the $90^o$ rotation of the vector $\overrightarrow{A_{2}H}$, normalization and multiplying by the
  distance h, giving$$\overrightarrow{HC}=\gamma \frac{h}{a}\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]\overrightarrow{A_{2}H}$$
  where $a=||\overrightarrow{A_{2}H}||$ and $h=\sqrt{l^2-a^2}$
  $$\begin{gathered} \overrightarrow{OC}=\overrightarrow{O{O}_2}+\overrightarrow{O_2{A}_2}+\overrightarrow{A_{2}H}+\overrightarrow{HC} \\ \overrightarrow{OC}=\left[\begin{array}{c}\frac{d}{2}\\ 0\end{array}\right]+\left[\begin{array}{c}0\\ q_2\end{array}\right]+\left[\begin{array}{c}-\frac{d}{2}\\ \frac{q_1-a_2}{2}\end{array}\right]+\gamma \frac{h}{a}\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]\left[\begin{array}{c}-\frac{d}{2}\\ \frac{q_1-q_2}{2}\end{array}\right] \end{gathered}$$
  Thus we have $$\begin{gathered} x=\overrightarrow{OC}(1) \\ y=\overrightarrow{OC}(2) \end{gathered}$$

The model which gives the passive angle position [${\varphi }_1$ ${\varphi }_2$] = passive angles(x,y,q1,q2)
$$\overrightarrow{OC}=$$