Me and Haider worked together on this one. We started by plotting out the lines and angles on the graph.

Task 1:

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We did the working out of the X and Y end effector to come to the conclusion that X was 66.3, and Y was 68.3.

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We coded the forward kinematics calculator, and displayed the results in TinkerCAD

#include <math.h>;
float l1 = 50;
 
float l2 = 50;
 
float angle1 = 60;      
 
float angle2 = -30;       
 
float rad_angle1;  
 
float rad_angle2;
 
float x;
 
float y;  
void setup() {
 
  //angle1 = 30;
 
  //angle2 = 50;
  Serial.begin (9600);
 
  ForwardKinematics();
}
void loop() {
 
  // put your main code here, to run repeatedly:
 
}
 
void ForwardKinematics(){
 
    // convert to radians
 
    rad_angle1 = (angle1*M_PI)/180;    
 
    rad_angle2 = (angle2*M_PI)/180;
    // Solve for x and y coordinate position of end effector  
 
    x = l1 * cos(rad_angle1) +l2 * cos(rad_angle1 + rad_angle2);
 
    y = l1 * sin(rad_angle1) +l2 * sin (rad_angle1 + rad_angle2);
    Serial.print("X = " );
    Serial.print (x);
    Serial.print('\\n');
    Serial.print("Y = ");
  	Serial.print(y);
    Serial.print('\\n');
}

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Task 2:

Step 1:

image.png

Step 2:

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