Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory

Table 10

First ten natural frequencies (Hz); see Table 7; 𝜃_2,3=90^∘,−90^∘.

	Analytical solution			Finite Element solution
Mode	EB	𝑇	Δ )%)	ABAQUS R.6.6, B23	ABAQUS R.6.6, B22
1	6.6640	6.6496	0.22	6.6640	6.6496
2	31.472	30.482	3.25	31.472	30.482
3	38.768	37.684	2.88	38.768	37.684
4	218.72	208.78	4.76	218.72	208.78
5	305.61	277.56	10.1	305.61	277.56
6	434.66	376.12	15.6	434.66	376.12
7	567.22	543.01	4.46	567.22	543.01
8	655.55	592.00	10.7	655.55	592.00
9	760.44	710.07	7.09	760.44	710.07
10	888.40	797.19	11.4	888.40	797.19