Biology Forums - Study Force

Consider the two-link robot linkage in the figure below, where 𝑂 is a fixed pivot point, and 𝐴
an elbow. The aim is to find how to program the linkage system such that the extremity 𝐵 is
constrained to the line 𝑦 = 𝑐.
(a) Find the position vector of point 𝐵 as a function of the angles 𝛼, 𝛽, and link length 𝐿.
(b) If 𝐿 = 1 m and 𝑐 = 1.5 m, how should 𝛽 be set as a function of 𝛼 such that 𝐵 remains on
the line 𝑦 = 𝑐? (30◦ ⩽ 𝛼 ⩽ 150◦)

I'm not entirely sure how to do this.

Here's how I think you do (a), but I started doubting the process when I read (b), as it incorporates \(c\), but my answer for (a) does not.

(https://biology-forums.com/gallery/qpics/6_19_03_24_12_42_58.png)

What are you thoughts?

I wasnt really sure how to attempt this one, might get some help from my tutor.

Any updates on what your tutor said?