On the dynamics in space of rods undergoing large motions - A geometrically exact approach (Q1089190)

The dynamics of a fully nonlinear rod model, capable of undergoing finite bending, shearing and extension, is considered in detail. Unlike traditional nonlinear structural dynamics formulation, due to the effect of finite rotations the deformation map takes values in \({\mathbb{R}}^ 3\times SO(3)\), which is a differentiable manifold and not a linear space. An implicit time stepping algorithm that furnishes a canonical extension of the classical Newmark algorithm to the rotation group (SO(3) is developed. In addition to second-order accuracy, the proposed algorithm reduces exactly to the plane formulation. Moreover, the exact linearization of the algorithm and associated configuration update is obtained in closed form, leading to a configuration-dependent nonsymmetric tangent inertia matrix. As a result, quadratic rate of convergence is attained in a Newton-Raphson iterative solution strategy. The generality of the proposed formulation is demonstrated through several numerical examples that include finite vibration, centrifugal stiffening of a fast rotating beam, dynamic instability and snap-through, and large overall motions of a free-free flexible beam. Complete details on implementation are given in three appendices.