A constraint-free mixed-finite-element multibody formulation for intrinsic geometrically exact beams that preserves energy exactly with implicit midpoint integration.
Albu-Schäffer, O
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Mixed finite element discretization of intrinsic geometrically exact beams for explicit multibody dynamics
A constraint-free mixed-finite-element multibody formulation for intrinsic geometrically exact beams that preserves energy exactly with implicit midpoint integration.