Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory

Table 8

Parameters of the adopted industrial manipulator.

Parameter	Symbol	Units	Link 𝑖 (𝑖=1,2)	Link 3
Length	𝐿𝑖	m	1.5	1.5
Width of section	ℎ𝑖	cm	15	15
Height of section	𝑏𝑖	cm	20	20
Wall thickness	𝑡𝑖	cm	1	1
Young’s modulus	𝐸𝑖	GPa	70	70
Mass density	𝜌𝑖	kg/m^3	2700	2700
Poisson’s ratio	𝜈𝑖	none	0.34	0.34
Tip load mass	𝑀𝑖	kg	10	35
Tip load inertia	𝐽𝑖	kg m^2	0.3	0.5