Table 6: First ten natural frequencies (Hz); two-link manipulator; ( 𝐿 1 / = 8 . 3 3 , 𝐿 𝑇 / = 1 7 . 3 3 ).

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

146.54046.54046.4170.260.2649.79649.80149.6610.270.2861.73661.76261.5500.300.34
2282.42282.42277.521.81.8225.58226.53221.881.62.1165.04165.42162.321.61.9
3805.90805.90773.814.14.1782.63791.77753.863.65.0779.33793.67751.293.55.6
41229.9axial1229.90.01223.51356.81154.65.1181221.21250.71132.47.110
51551.21551.21443.17.57.51841.42536.31780.62.4422057.52522.51981.33.027
62589.52589.52326.611112621.13515.92362.77.3492737.43400.62515.96.535
73653.2none3294.0113444.15198.83109.76.4673271.85161.42887.07.579
83828.93828.93653.24.84.84124.36708.33906.93.2724345.46603.44141.63.159
95336.25336.24425.321215253.18728.34403.59.7985165.38663.74372.59.298
106146.9none5590.4106316.7107995461.07.9986548.3107165305.612102

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