I have a project in the 3D printing. the aim of the project is to realize the control of the 3D printing.
the type of the printer is a printer with cables.
the problem seems to have some development both in mechanical and robotics engineering.
first of all, as our tutor said, we should find the dynamical and the geometrical equations and from those equations, we can find the algorithm to control the system of the 3 D printing.
Well, my question is particularly about the dynamical equations in 2D as you can see in the picture above.
the idea is to find equations of : - L1 and L2 in terms of xa and ya : which I already found as you can see in the picture - xa and ya and teta in terms of L1 and L2: which I cannot find ! I would lilke you to help in this point.
thank you in advance
And here, I add the dynamic equations and I would like you to check if it is ok