3D dynamics of discrete element systems comprising irregular discrete elements - integration solution for finite rotations in 3D

An algorithm for transient dynamics of discrete element systems comprising a large number of irregular discrete elements in 3D is presented. The algorithm is a natural extension of contact detection, contact interaction and transient dynamics algorithms developed in recent years in the context of discrete element methods and also the combined nite-discrete element method. It complements the existing algorithmic procedures enabling transient motion including nite rotations of irregular discrete elements in 3D space to be accurately integrated