Position Loop Equation (Kinematics)

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The discussion focuses on deriving the position loop equations for a solar panel deployment mechanism attached to a satellite. The user has defined the lengths of components but is struggling to formulate the y loop equation in a rectangular coordinate system. They are considering whether to switch to local, global, or natural coordinate systems for a solution. Attached files include a system drawing and a reference document for similar mechanisms. The user expresses frustration over the lack of responses to their inquiry.
kashoo
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What will be the position loop equation of the attached file. The system is of Solar Panel Deployment attached to Satellite Body .
The lengths are
AB = Yoke = a
BC=CD=DE = Solar Panles = b

I have been trying to fine position loop equations (i.e x & y ) in rectangular coordinate system but y loop equation is not achievable.
Should I try something in Loacal /Global/ Natural coordinate system.

Two files are attached ...one is of my system's drawing
Other one is a reference document of analysis of this kind of mechanism which is at

http://iris.sid.inpe.br:1916/col/sid.inpe.br/marciana/2004/12.23.11.00/doc/Brasilian ijar.pdf
 

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