Table 5: First ten natural frequencies (Hz); two-link manipulator; ( 𝐿 1 / = 1 6 . 6 7 , 𝐿 𝑇 / = 3 4 . 6 7 ).

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

122.77122.77122.7560.070.0724.34924.35024.3330.070.0730.10730.11030.0850.070.08
2135.87135.87135.280.440.44109.58109.68109.120.420.5180.51480.55780.1780.420.47
3395.12395.12391.111.01.0386.31387.26382.590.971.2385.43387.00381.780.961.4
4750.85750.85736.831.91.9656.26666.58643.751.93.5615.82618.74603.332.12.6
51206.2axial1206.20.01203.81233.31174.82.55.01203.71224.61173.52.64.4
61261.01261.01226.12.82.81540.51729.71496.82.9161650.51679.61579.74.56.3
71855.01855.01779.44.24.21965.72505.11918.42.5312117.02484.52083.41.619
82570.12570.12440.45.35.32583.33263.22460.95.0332604.73220.22504.84.029
93393.13393.13176.06.86.83267.14163.03080.36.1353177.24128.42973.46.939
103567.6axial3567.60.03782.35096.13701.12.2383959.85066.63788.94.534

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