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The position analysis solves for the linear position of the slider on a (red in the CAD) and the angular position of the distal finger (a, shown as red in the CAD). The input link here is c, which forms a triangular link with the output link a of the previous sub-mechanism. Using the known angular difference between these two effective links on the same body, we can provide the correct inputs to these equations,.
Because of their complexity, these equations were solved using a symbolic solver to yield the following solutions:
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