Table 2: First ten natural frequencies (Hz); two-link manipulator, see Table 1; ( 𝐿 1 / = 8 3 3 . 3 , 𝐿 𝑇 / = 1 7 3 3 ).

𝜃 2 = 0° 𝜃 2 = 45° 𝜃 2 = 90°
ModeEB EB TΔΔEB EB TΔΔEB EB TΔΔ

10.20020.20020.20020.000.000.21140.21140.21140.000.000.24900.24900.24900.000.00
20.95570.95570.95570.000.000.82690.82690.82690.000.000.65310.65310.65310.000.00
34.89014.89014.89010.000.004.85584.85584.85580.000.004.82554.82554.82550.000.00
49.07449.07449.07440.000.008.99248.99248.99240.000.008.91618.91618.91610.000.00
514.50014.50014.4990.010.0114.46014.46014.4600.000.0014.42814.42814.4280.000.00
620.65020.65020.6500.000.0020.57920.57920.5780.000.0020.53520.53520.5340.000.00
736.44736.44736.4460.000.0036.29836.29836.2970.000.0036.15036.15036.1490.000.00
836.74636.74636.7450.000.0036.75636.75636.7550.000.0036.81236.81236.8110.000.00
962.87262.87262.8700.000.0062.75962.76062.7570.000.0062.68262.68262.6800.000.00
1070.91770.91770.9140.000.0070.87070.87070.8670.000.0070.84270.84270.8390.000.00

Through the model by di Castri et al. [12] Through implementation of the model by Milford and Asokanthan [11].