Question: P2.26 A robot includes significant flexibility in the arm members with a heavy load in the gripper [6, 20]. A two-mass model of the robot

P2.26 A robot includes significant flexibility in the arm members with a heavy load in the gripper [6, 20]. A two-mass model of the robot is shown in Figure P2.26.

Find the transfer function Y(s)/ F(s). x(t) F(t) M m y(t) wwwww k FIGURE P2.26 The spring-mass-damper model

x(t) F(t) M m y(t) wwwww k FIGURE P2.26 The spring-mass-damper model of a robot arm.

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