On Equations of Motion of Elastic Linkages by FEM

Table 2

Two-link manipulator parameters [21].

Parameters	Link I	Link II
Length, m.	𝐿1=1	𝐿2=1
Cross-section area, m^2	𝐹1=4×10^−4	𝐹2=4×10^−4
Moment of inertia, m^4	𝐼1=16/3×10^−8	𝐼2=16/3×10^−8
Modulus of elasticity, N/m^2 𝐸=2.1×10^11
Mass density, kg/m^3  𝜌=7800