Geometrically exact beam finite element formulated on the special Euclidean group SE(3)

This paper describes a dynamic formulation of a straight beam finite element in the setting
of the special Euclidean group SE(3). First, the static and dynamic equilibrium equations
are derived in this framework from variational principles. Then, a non-linear interpolation
formula using the exponential map is introduced. It is shown that this framework leads to a
natural coupling in the interpolation of the position and rotation variables. Next, the discretized
internal and inertia forces are developed. The semi-discrete equations of motion
take the form of a second-order ordinary differential equation on a Lie group, which is
solved using a Lie group time integration scheme. It is remarkable that no parameterization
of the nodal variables needs to be introduced and that the proposed Lie group framework
leads to a compact and easy-to-implement formulation. Some important numerical and
theoretical aspects leading to a computationally efficient strategy are highlighted and discussed.
For instance, the formulation leads to invariant tangent stiffness and mass matrices
under rigid body motions and a locking free element. The proposed formulation is successfully
tested in several numerical static and dynamic examples.