Table 3: First ten natural frequencies (Hz); two-link manipulator; ( 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

13.93443.93443.93430.000.004.19074.19074.19060.000.005.09875.09875.09860.000.00
221.55021.55021.5460.020.0217.92517.92617.9230.010.0213.55413.55413.5520.010.01
370.72070.72070.6950.040.0468.90168.90868.8780.030.0468.12068.13068.0980.030.05
4130.00130.00129.910.070.07122.38122.41122.290.070.10117.10117.11117.010.080.09
5218.26218.26218.070.090.09214.44214.52214.260.080.12212.37212.43212.190.080.11
6317.00317.00316.590.130.13308.98309.23308.560.140.22304.46304.57304.030.140.18
7425.34425.34424.490.200.20418.99419.31418.170.200.27415.96416.06415.150.200.22
8545.20545.20544.050.210.21536.96537.95535.810.210.40534.21534.97533.050.220.36
9745.10745.10742.100.400.40734.87736.49731.950.400.62731.71732.18728.790.400.47
10837.96837.96835.260.320.32826.94830.08824.250.330.71825.38827.93822.680.330.64

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