Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory

Table 1

Parameters of the flexible manipulator test.

Parameter	Symbol	Units	Link 1	Link 2
Length	𝐿𝑖	m	0.5	0.54
Thickness	ℎ𝑖	mm	0.61	0.6
Width	𝑏𝑖	cm	5.1	5.1
Mass	𝑚𝑖	kg	0.121	0.129
Stiffness	𝐸𝑖𝐼𝑖	N m^2	0.203	0.193
Tip load mass	𝑀𝑖	kg	0.61	0.224
Tip load inertia	𝐽𝑖	kg m^2	1.5⋅10^−3	1.3⋅10^−4