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Q1) Figure below shows two pendulums suspended from frictionless pivots and connected at their midpoints by spring. Assume that each pendulum can be represented by a mass M at the end of massless bar of length L. Also assume that the displacements small and linear approximations can be used for sin (0) and cos (0). The spring located in the middle of the bars is unstreched when 0, = 02. The input force is represented by f(t), which influences the left-hand bar only. (a) Obtain the equations of motion, and sketch a block diagram for them. (b) Determine the transfer function T(s) = 0, (s)/F(s). [P.S. For small angle, sin (0) × 0 , cos (0) z 1] L/2 fin Q2) A robot includes significant flexibility in the arm members with a heavy load in the gripper. A two mass model of the robot is shown in the figure below. Find the transfer function Y(s)/F(s). Fuy м т

Q1) Figure below shows two pendulums suspended from frictionless pivots and connected at their midpoints by spring. Assume that each pendulum can be represented by a mass M at the end of massless bar of length L. Also assume that the displacements small and linear approximations can be used for sin (0) and cos (0). The spring located in the middle of the bars is unstreched when 0, = 02. The input force is represented by f(t), which influences the left-hand bar only. (a) Obtain the equations of motion, and sketch a block diagram for them. (b) Determine the transfer function T(s) = 0, (s)/F(s). [P.S. For small angle, sin (0) × 0 , cos (0) z 1] L/2 fin Q2) A robot includes significant flexibility in the arm members with a heavy load in the gripper. A two mass model of the robot is shown in the figure below. Find the transfer function Y(s)/F(s). Fuy м т

Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
Section: Chapter Questions
Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...
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Q1) Figure below shows two pendulums suspended from frictionless pivots and connected at their midpoints by spring. Assume that each pendulum can be represented by a mass M at the end of massless bar of length L. Also assume that the displacements small and linear approximations can be used for sin (0) and cos (0). The spring located in the middle of the bars is unstreched when 0, = 02. The input force is represented by f(t), which influences the left-hand bar only. (a) Obtain the equations of motion, and sketch a block diagram for them. (b) Determine the transfer function T(s) = 0, (s)/F(s). [P.S. For small angle, sin (0) × 0 , cos (0) z 1] L/2 fin Q2) A robot includes significant flexibility in the arm members with a heavy load in the gripper. A two mass model of the robot is shown in the figure below. Find the transfer function Y(s)/F(s). Fuy м т
Transcribed Image Text:Q1) Figure below shows two pendulums suspended from frictionless pivots and connected at their midpoints by spring. Assume that each pendulum can be represented by a mass M at the end of massless bar of length L. Also assume that the displacements small and linear approximations can be used for sin (0) and cos (0). The spring located in the middle of the bars is unstreched when 0, = 02. The input force is represented by f(t), which influences the left-hand bar only. (a) Obtain the equations of motion, and sketch a block diagram for them. (b) Determine the transfer function T(s) = 0, (s)/F(s). [P.S. For small angle, sin (0) × 0 , cos (0) z 1] L/2 fin Q2) A robot includes significant flexibility in the arm members with a heavy load in the gripper. A two mass model of the robot is shown in the figure below. Find the transfer function Y(s)/F(s). Fuy м т
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