Timoshenko versus EulerBernoulli beam theories for high speed two-link manipulator

In this paper, a two-link flexible manipulator is considered. for a prescribed motion, timoshenkoand eulerbernoulli beam models are considered. using the galerkin method, nonlinear equations ofmotion are solved. the rungekutta method is employed for the time response integration method. acomparative study is made between the eulerbernoulli and timoshenko beam models, with and withoutforeshortening effects. it is demonstrated that for two-link manipulators, both theories provide goodmodels, and the results for both theories are very similar for all ranges of slenderness ratio. the findingssuggest that for two-link manipulators with relatively high slenderness ratios, there is a remarkabledifference between the models, considering the foreshortening effect and un-stiffened models. it isobvious that for high precisions applications, the stiffened timoshenko model is recommended. it isinteresting to note that joint torques for the entire range of slenderness ratios are the same.