Table 4: First ten natural frequencies (Hz); two-link manipulator; ( 𝐿 1 / = 3 3 . 3 3 , 𝐿 𝑇 / = 6 9 . 3 3 ).

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

110.93110.93110.9290.020.0211.67511.67511.6730.020.0214.36314.36314.3600.020.02
263.39963.39963.3340.100.1051.70551.71651.6530.100.1238.34838.35338.3090.100.11
3190.90190.90190.430.250.25186.38186.49185.950.230.29185.36185.54184.940.230.32
4356.79356.79355.140.460.46322.97323.92321.400.490.78303.66303.97302.120.510.61
5602.80602.80598.840.660.66587.48589.46583.770.640.97582.51584.21578.870.630.92
6882.58882.58873.791.01.0831.00839.66822.291.12.1817.71819.88808.781.11.4
71162.5Axial1162.50.01162.31178.91149.21.12.61162.31168.21148.71.21.7
81205.51205.51190.71.21.21466.91534.01448.41.35.91505.21519.11482.21.62.5
91571.61571.61548.71.51.51713.91953.41699.70.8151901.21937.21867.81.83.7
101998.11998.11953.32.32.32012.62331.01973.02.0182017.82321.71998.50.9716

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