Frame-indifferent beam finite elements based upon the geometrically exact beam theory

This paper describes a new beam nite element formulation based upon the geometrically exact beam theory. In contrast to many previously proposed beam nite element formulations the present discretization approach retains the frame-indi erence (or objectivity) of the underlying beam theory. The space interpolation of rotational degrees-of-freedom is circumvented by the introduction of a reparameterization of the weak form corresponding to the equations of motion of the geometrically exact beam theory