Planar manipulator Displacement analysis From geometry a1C1+ a2C12=a a2心12=x-a11 4.101a) a181+a2812=y a2812=y-a18 (4.101b) (4.103a)2+(4.103b)2 C:=a2+a2+2a1we1+2a1ys1-(x2+y2)=0 (4.102) Also C: C+s1=1 Solution depends on the relative position between line L and circle c aL intersects with C 2 roots b)tangent to C. I root c)Ldoes not intersect with C. No rootPlanar Manipulator • Displacement Analysis From geometry (4.103a)² + (4.103b)² Also Solution depends on the relative position between line L and circle C a) L intersects with C: 2 roots b) L tangent to C: 1 root c) L does not intersect with C: No root