I am very interested in building a robot printer similar to the one in this video: https://www.youtube.com/watch?v=QEI8J-BrP04

I want to use kflop, since I have one from a previous cnc router project. My only concern is not being able to set up the kinematics. I looked at the sample kinematics but none of them seem similar to what I would need. I think I know what equations I need, but I'm not sure how to write a custom kinematics file. Any help with my new hobby or a nudge in the right direction would be greatly appreciated.