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Through isothermal hot compression experiments at various strain rates and temperatures, the thermal deformation behavior of Zn-2.0Cu-0.15Ti alloy is investigated. The Arrhenius-type model is utilized to forecast flow stress behavior. Results show that the Arrhenius-type model accurately reflects the flow behavior in the entire processing region. The dynamic material model (DMM) reveals that the optimal processing region for the hot processing of Zn-2.0Cu-0.15Ti alloy has a maximum efficiency of about 35%, in the temperatures range (493–543 K) and a strain rate range (0.01–0.1 s−1). Microstructure analysis demonstrates that the primary dynamic softening mechanism of Zn-2.0Cu-0.15Ti alloy after hot compression is significantly influenced by temperature and strain rate. At low temperature (423 K) and low strain rate (0.1 s−1), the interaction of dislocations is the primary mechanism for the softening Zn-2.0Cu-0.15Ti alloys. At a strain rate of 1 s−1, the primary mechanism changes to continuous dynamic recrystallization (CDRX). Discontinuous dynamic recrystallization (DDRX) occurs when Zn-2.0Cu-0.15Ti alloy is deformed under the conditions of 523 K/0.1 s−1, while twinning dynamic recrystallization (TDRX) and CDRX are observed when the strain rate is 10 s−1.

The dynamic response of many flexible multibody systems of practical interest is periodic. The investigation of such problems involves two intertwined tasks: first, the determination of the periodic response of the system and second, the analysis of the stability of this periodic solution. Starting from Hamilton’s principle, a unified solution procedure for continuous and discontinuous Galerkin methods is developed for these two tasks. In the proposed finite element formulation, the unknowns consist of the displacement and rotation components at the nodes, which are interpolated via the dual spherical linear interpolation technique. Periodic solutions are obtained by solving the discrete nonlinear equations resulting from continuous and discontinuous Galerkin methods. The monodromy matrix required for stability analysis is constructed directly from the Jacobian matrix of the solution process. Numerical examples are presented to validate the proposed approaches.

This paper proposes a novel spectral formulation for geometrically exact beams based on motion interpolation schemes. Motion interpolation schemes based on matrix, quaternion, and geodesic metrics ...

A novel time-discontinuous Galerkin (DG) method is introduced for the time integration of the differential-algebraic equations governing the dynamic response of flexible multibody systems. In contrast to traditional Galerkin methods, the rigid-body motion field is interpolated using the dual spherical linear scheme. Furthermore, the jumps inherent to time-DG methods are expressed in terms of a parameterization of the relative motion from one time-step to the next. The proposed scheme is third-order accurate for initial value problems of both rigid and flexible multibody dynamics.

In many applications, beams carry large axial forces, such as centrifugal forces, for instance, and the resulting axial stresses affect their torsional behavior. To capture this important coupling effect within the framework of beam models, a nonlinear theory must be developed that takes into account higher-order strain deformations. The proposed development starts with a three-dimensional elasticity model of beam-like structures. While strain components are assumed to remain small, the strain energy expression is expanded to retain strain components up to cubic order. This expansion of the three-dimensional model leads to material and geometric stiffness matrices. For linear problems, the three-dimensional warping fields induced by each of the six unit sectional strain components can be obtained. These warping fields are used to reduce the three-dimensional elasticity model to one-dimensional beam equations. Byproducts of this reduction process include the sectional stiffness matrix and six nonlinear stiffness matrices representing the geometric stiffness induced by unit sectional strains. It is shown that the nonlinear extension-twist coupling is captured by these geometric stiffness matrices. Comparison of the predictions of the proposed approach with analytical and experimental results demonstrate their effectiveness and accuracy.

Interpolation of motion is required in various fields of engineering such as computer animation and vision, trajectory planning for robotics, optimal control of dynamical systems, or finite element analysis. While interpolation techniques in the Euclidean space are well established, general approaches to interpolation on manifolds remain elusive. Interpolation schemes in the Euclidean space can be recast as minimization problems for weighted distance metrics. This observation allows the straightforward generalization of interpolation in the Euclidean space to interpolation on manifolds, provided that a metric of the manifold is defined. This paper proposes four metrics of the motion manifold: the matrix, quaternion, vector, and geodesic metrics. For each of these metrics, the corresponding interpolation schemes are derived and their advantages and drawbacks are discussed. It is shown that many existing interpolation schemes for rotation and motion can be derived from the minimization framework proposed here. The problems of averaging of rotation and motion can be treated easily within the same framework. Both local and global interpolation problems are addressed. The proposed interpolation framework can be used with any suitable set of basis functions. Examples are presented with Chebyshev spectral, Fourier spectral, and B-spline basis functions. This paper also introduces one additional approach to the interpolation of motion based on the interpolation of its derivatives. While this approach provides high accuracy, the associated computational cost is high and the approach cannot be used in multi-variable interpolation easily.

Many flexible multibody systems of practical interest exhibit a periodic response. This paper focuses on the implementation of the collocation version of the Fourier spectral method to determine periodic solutions of flexible multibody systems modeled via the finite element method. To facilitate the analysis and obtain governing equations presenting low-order nonlinearities, the motion formalism is adopted. Application of Fourier spectral methods requires global interpolation schemes that approximate the unknown fields over the entire period of response with exponential convergence characteristics. The classical spectral interpolation schemes were developed for linear fields and hence do not apply to the nonlinear configuration manifolds, such as $$\mathrm {SO}(3)$$ or $$\mathrm {SE}(3)$$ , that are used to describe the kinematics of multibody systems. Furthermore, the configuration and velocity fields are related through nonlinear kinematic compatibility equations. Clearly, special procedures must be developed to adapt the Fourier spectral approach to flexible multibody systems. The spectral interpolation of motion is investigated; interpolation schemes based on the polar decomposition are proposed. Assembly of the linearized governing equations at all the grid points leads to the governing equations of the spectral method. Numerical examples illustrate the performance of the proposed approach.

Discontinuous Galerkin formulation is developed for stability analysis of periodic solutions of flexible multibody dynamics. The proposed approach takes rigid-body motions of each structural nodes as the unknowns. The rigid-body motions are interpolated by using dual spherical linear interpolation (dual-SLERP). The analysis is composed of two steps: (1) the periodic solution is obtained by solving nonlinear equations resulting from Galerkin method; (2) a linearization about the periodic solution leads to a periodic linear system and its stability is assessed by using Floquet’s method.

This paper proposes a new approach to the modeling of geometrically exact beams based on motion interpolation schemes. Motion interpolation schemes yield simple expressions for the sectional strains and linearized strain-motion relationships at the mesh nodes. The classical formulation of the finite element method starts from the weak form of the continuous governing equations obtained from a variational principle. Approximations, typically of a polynomial nature, are introduced to express the continuous displacement field in term of its nodal values. Introducing these approximations into the weak form of the governing equations then yields nonlinear discrete that can be solved with the help of a linearization process. In the proposed approach, the order of the first two steps of the procedure is reversed: approximations are introduced in the variational principle directly and the discrete equations of the problem then follow. This paper has shown that for geometrically exact beams, the discrete equations obtained from the two procedure differ significantly: far simpler discrete equations are obtained from the proposed approach.

Besides fusion structural materials themselves, research and development of small specimen test technologies (SSTTs) are also important for their joints for mechanical properties evaluation on resistance to neutron irradiation. Because the specimens usually fracture at the base metals (BM), not at the weld metal (WM), and the bonding properties of the joints cannot be obtained directly during tensile tests, small tensile specimens with different sizes of notches at the WM were utilized to try to extrapolate the bonding properties in the present study. A joint of reduced-activation ferritic/martensitic (RAFM) steel CLF-1 made by electron beam welding (EBW) after post-weld heat treatment (PWHT) were utilized to demonstrate the feasibility of this method. By combining tensile experiments, optical digital image correlation technology, and finite element method (FEM) simulation, effects of notch sizes on bonding properties such as strain, stress, and stress triaxiality were investigated. Finally, bonding properties for the joint were tentatively extrapolated from the results of the specimens with notches.

For beams undergoing large motions but small strains, the displacement field can be decomposed into an arbitrarily large rigid-section motion and a warping field. When applying beam theory to dynamic problems, it is customary to assume that all inertial effects associated with warping are negligible. This paper examines this assumption in details. It is shown that inertial forces affect the beam’s dynamic response in two manners: (1) warping motion induces inertial forces directly, and (2) secondary warping arises that alters the beam’s constitutive laws. Numerical examples demonstrate the range of validity of the proposed approach for beams made of both homogeneous isotropic and heterogeneous anisotropic materials. For low-frequency warping, it is shown that inertial forces associated with warping and secondary warping resulting from inertial forces are negligible. To examine the dynamic behavior of beams over a wider range of frequencies, their dispersion curves, natural vibration frequencies, and mode shapes are evaluated using both one- and three-dimensional models; good correlation is observed between the two models. Applications of the proposed beam theory to multibody problems are also presented; here again, good correlation is observed between the prediction of beam models and of full three-dimensional analysis.

In structural analysis, many components are approximated as plates. More often that not, classical plate theories, such as Kirchhoff or Reissner-Mindlin plate theories, form the basis of the analytical developments. The advantage of these approaches is that they leads to simple kinematic descriptions of the problem: the plate's normal material line is assumed to remain straight and its displacement field is fully defined by three displacement and two rotation components. While such approach is capable of capturing the kinetic energy of the system accurately, it cannot represent the strain energy adequately. For instance, it is well known from three-dimensional elasticity theory that the normal material line will warp under load for laminated composite plates, leading to three-dimensional deformations that generate complex stress states. To overcome this problem, several layer-wise plate theories have been proposed. While these approaches work well for some cases, they often lead to inefficient formulations because they introduce numerous additional variables. This paper presents a novel, single-layer theory using local-global Approach: based on a finite element semi-discretization of the normal material line, the two-dimensional plate equations are derived from three-dimensional elasticity using a rigorous dimensional reduction procedure. Three-dimensional stresses through the plate's thickness can be recovered accurately from the plate's stress resultants.

The Hamiltonian approach is generalized to beams consisting of thin-walled panels.The proposed approach can handle curved sectional geometries.Closed-form central and extremity solutions are found.Correct boundary conditions based on the weak form formulation are derived.The beam's 6×6 sectional stiffness matrix is a by-product of the analysis. In this paper, the Hamiltonian approach developed for beam with solid cross-section is generalized to deal with beams consisting of thin-walled panels. The governing equations of plates and cylindrical shells for the panels are cast into Hamiltonian canonical equations and closed-form central and extremity solutions are found. Typically, the end-effect zones for thin-walled beams are much larger than those for beams with solid cross-sections. Consequently, extremity solutions affect the solution significantly. Correct boundary conditions based on the weak form formulation are derived. Numerical examples are presented to demonstrate the capabilities of the analysis. Predictions are found to be in good agreement with those of plate and shell FEM analysis.

The manipulation of motion and ancillary operations are important tasks in kinematics, robotics, and rigid and flexible multibody dynamics. Motion can be described in purely geometric terms, based on Chasles’ theorem. Representations and parameterizations of motion are also available, such as Euler motion parameters and the vectorial parameterization, respectively. Typical operations to be performed on motion involve the selection of local or global parameterizations and the derivation of the associated expressions for the motion tensor, velocity or curvature vector, composition of motions, and tangent tensors. Many of these tasks involve arduous, error-prone algebra. The use of dual entities has been shown to ease the manipulation of motion, yet this concept has received little attention outside of the fields of kinematics and robotics. This paper presents a comprehensive treatment of the topic using a notation that eliminates the bookkeeping parameter typically used in dual number algebra, thereby recasting all operations within the framework of linear algebra and streamlining the process. The manipulation of geometric entities is recast within this formalism, paving the way for the manipulation of motion. All developments are presented within the framework of dual numbers directly; the principle of transference is never invoked: The manipulation of rotation is a particular case of that of motion, as should be. The problem of interpolation of motion, a thorny issue in finite element applications, is also addressed.

This paper develops a Hamiltonian formalism for the solution of Almansi–Michell’s problem that generalizes the corresponding solution of Saint-Venant’s problem. Saint-Venant’s and Almansi–Michell’s problems can be represented as homogenous and non-homogenous Hamiltonian systems, respectively. The solution of Almansi–Michell’s problem is determined by the coefficients of the Hamiltonian matrix but also by the distribution pattern of the applied loading. The solution proceeds in two steps: first, for the homogenous problem, a projective transformation is constructed based on a symplectic matrix and second, the effects of the external loading are taken into account by augmenting this projection. With the help of this projection, the three-dimensional governing equations of Almansi–Michell’s problem are reduced to a set of one-dimensional beam-like equations, leading to a recursive solution process. Furthermore, the three-dimensional displacement, strain, and stress fields can be recovered from the one-dimensional solution. Numerical examples show that the predictions of the proposed approach are in excellent agreement with exact solutions of two-dimensional elasticity and three-dimensional FEM analysis.

Flexible joints, sometimes called bushing elements or force elements, are found in all structural and multibody dynamics codes. In their simplest form, flexible joints simply consist of sets of three linear and three torsional springs placed between two nodes of the model. For infinitesimal deformations, the selection of the lumped spring constants is an easy task, which can be based on a numerical simulation of the joint or on experimental measurements. If the joint undergoes finite deformations, identification of its stiffness characteristics is not so simple, specially if the joint is itself a complex system. When finite deformations occur, the definition of deformation measures becomes a critical issue. This paper proposes a family of tensorial deformation measures suitable for elastic bodies of finite dimension. These families are generated by two parameters that can be used to modify the constitutive behavior of the joint, while maintaining the tensorial nature of the deformation measures. Numerical results demonstrate the objectivity of the deformations measures, a feature that is not shared by the deformations measures presently used in the literature. The impact of the choice of the two parameters on the constitutive behavior of the flexible joint is also investigated.

Traditionally, the time integration algorithms for multibody dynamics are in sequential. The predictions of previous time steps are necessary to get the solutions at current time step. This time-marching character impedes the application of parallel processor implementation. In this paper, the idea of computing a number of time steps concurrently is applied to flexible multi-body dynamics, which makes parallel time-integration possible. In the present method, the solution at the current time step is computed before accurate values at previous time step are available. This method is suitable for small-scale parallel analysis of flexible multibody systems.Copyright © 2017 by ASME

This paper presents an approach toward the integration of 3D stress computation with the tools used for the simulation of flexible multibody dynamics. Due to the low accuracy of the floating frame of reference approach, the the multibody dynamics community has turned its attention to comprehensive analysis tools based on beam theory. These tools evaluate sectional stress resultants, not 3D stress fields. The proposed approach decomposes the 3D problem into two simpler problems: a linear 2D analysis of the cross-section of the beam and a nonlinear, 1D of the beam. This procedure is described in details. For static problems, the proposed approach provides exact solutions of three-dimensional elasticity for uniform beams of arbitrary geometric configuration and made of anisotropic composite materials. While this strategy has been applied to dynamic problems, little attention has been devoted to inertial effects. This paper assesses the range of validity of the proposed beam theory when applied to dynamics problems. When beams are subjected to large axial forces, the induced axial stress components become inclined, generating a net torque that opposes further rotation of the section and leading to an increased effective torsional stiffness. This behavior, referred to as the Wagner or trapeze effect, cannot be captured by beam formulations that assume strain components to remain small, although arbitrarily large motions are taken into account properly. A formulation of beam theory that includes higher-order strain effects in an approximate manner is developed and numerical examples are presented. The “Saint-Venant problem” refers to a three-dimensional beam loaded at its end sections only. The “Almansi-Michell problem” refers to a three-dimensional beam loaded by distributed body forces, lateral surface tractions, and forces and moments at its end sections. Numerical examples of beams subjected to distributed loads will be presented and compared with 3D finite element solutions.

In flexible multibody systems, it is convenient to approximate many structural components as beams or shells. Classical beam theories, such as Euler–Bernoulli beam theory, often form the basis of the analytical development for beam dynamics. The advantage of this approach is that it leads to a very simple kinematic representation of the problem: the beam’s section is assumed to remain plane and its displacement field is fully defined by three displacement and three rotation components. While such an approach is capable of capturing the kinetic energy of the system accurately, it cannot represent the strain energy adequately. This paper presents a different approach to the problem. Based on a finite element discretization of the cross-section, an exact solution of the theory of three-dimensional elasticity is developed. The proposed approach is based on the Hamiltonian formalism and leads to an expansion of the solution in terms of extremity and central solutions. Kinematically, the problem is decomposed into an arbitrarily large rigid-section motion and a warping field. The sectional strains associated with the rigid-section motion and the warping field are assumed to remain small. As a consequence of this kinematic decomposition, the governing equations of the problem fall into two distinct categories: the equations describing geometrically exact beams and those describing local deformations. The governing equations for geometrically exact beams are nonlinear, one-dimensional equations, whereas a linear, two-dimensional analysis provides the detailed distribution of three-dimensional stress and strain fields. Within the stated assumptions, the solutions presented here are the exact solution of three-dimensional elasticity for beams undergoing arbitrarily large motions.

In this paper, the accuracies of the geometrically exact beam and absolute nodal coordinate formulations are studied by comparing their predictions against an experimental data set referred to as the “Princeton beam experiment.” The experiment deals with a cantilevered beam experiencing coupled flap, lag, and twist deformations. In the absolute nodal coordinate formulation, two different beam elements are used. The first is based on a shear deformable approach in which the element kinematics is described using two nodes. The second is based on a recently proposed approach featuring three nodes. The numerical results for the geometrically exact beam formulation and the recently proposed three-node absolute nodal coordinate formulation agree well with the experimental data. The two-node beam element predictions are similar to those of linear beam theory. This study suggests that a careful and thorough evaluation of beam elements must be carried out to assess their ability to deal with the three-dimensional deformations typically found in flexible multibody systems.

The modeling of flexibility in multibody systems has received increase scrutiny in recent years. The use of finite element techniques is becoming more prevalent, although the formulation of structural elements must be modified to accommodate the large displacements and rotations that characterize multibody systems. Two formulations have emerged that have the potential of handling all the complexities found in these systems: the absolute nodal coordinate formulation and the geometrically exact formulation. Both approaches have been used to formulate naturally curved and twisted beams, plate, and shells. After a brief review of the two formulations, this paper presents a detailed comparison between these two approaches; a simple planar beam problem is examined using both kinematic and static solution procedures. In the kinematic solution, the exact nodal displacements are prescribed and the predicted displacement and strain fields inside the element are compared for the two methods. The accuracies of the predicted strain fields are found to differ: The predictions of the geometrically exact formulation are more accurate than those of the absolute nodal coordinate formulation. For the static solution, the principle of virtual work is used to determine the solution of the problem. For the geometrically exact formulation, the predictions of the static solution are more accurate than those obtained from the kinematic solution; in contrast, the same order of accuracy is obtained for the two solution procedures when using the absolute nodal coordinate formulation. It appears that the kinematic description of structural problems offered by the absolute nodal coordinate formulation leads to inherently lower accuracy predictions than those provided by the geometrically exact formulation. These observations provide a rational for explaining why the absolute nodal coordinate formulation computationally intensive.

In Cosserat solids such as shear deformable beams and shells, the displacement and rotation fields are independent. The finite element implementation of these structural components within the framework of flexible multibody dynamics requires the interpolation of rotation and motion fields. In general, the interpolation process does not preserve fundamental properties of the interpolated field. For instance, interpolation of an orthogonal rotation tensor does not yield an orthogonal tensor, and furthermore, does not preserve the tensorial nature of the rotation field. Consequently, many researchers have been reluctant to apply the classical interpolation tools used in finite element procedures to interpolate these fields. This paper presents a systematic study of interpolation algorithms for rotation and motion. All the algorithms presented here preserve the fundamental properties of the interpolated rotation and motion fields, and furthermore, preserve their tensorial nature. It is also shown that the interpolation of rotation and motion is as accurate as the interpolation of displacement, a widely accepted tool in the finite element method. The algorithms presented in this paper provide interpolation tools for rotation and motion that are accurate, easy to implement, and physically meaningful.

Based on the symplectic transfer-matrix method, this paper develops a novel approach for the analysis of beams presenting periodic heterogeneities along their span. The approach, rooted in the Hamiltonian formalism, generalizes developments presented earlier by the authors for spanwise uniform beams. Starting from the kinematics of a unit cell, the approach proceeds through a set of structure-preserving symplectic transformations and decomposes the solution into its central and extremity components. The geometric configuration and material properties of the unit cell may be arbitrarily complex as long as the cell's two end cross sections are identical. The proposed approach identifies an equivalent, homogenized beam with uniform curvatures and sectional stiffness characteristics along its span. Numerical examples are presented to demonstrate the capabilities of the analysis. Predictions are found to be in excellent agreement with those obtained by full finite-element analysis.

This paper proposes a novel solution strategy for Saint-Venant's problem based on Hamilton's formalism. Saint-Venant's problem focuses on helicoidal beams and its solution hinges upon the determination of the subspace of the system's Hamiltonian matrix associated with its null and pure imaginary eigenvalues. A projection approach is proposed that reduces the system Hamiltonian matrix to a matrix of size 12 × 12, whose eigenvalues are identical to the null and purely imaginary eigenvalues of the original system, with the same Jordan structure. A fundamental theoretical result is established: Saint-Venant's solutions exist because rigid-body motions create no strains. Indeed, the solvability conditions for the governing equations of the problem are satisfied because a matrix identity holds, which expresses the fact that rigid-body motions create no strains. Because it avoids the identification of the Jordan structure of the original system, the implementation of the proposed projection for large, realistic problems is straightforward. Closed-form solutions of the reduced problem are found and three-dimensional stress and strain fields can be recovered from the closed-form solution. Numerical examples are presented to demonstrate the capabilities of the analysis. Predictions are compared to exact solutions of three-dimensional elasticity and three-dimensional FEM analysis.

The development of the International Thermonuclear Experimental Reactor (ITER) requires the production of a material capable of acting as a hydrogen/tritium permeation barrier on low activation steel. It is well known that thin alumina layer can reduce the hydrogen permeation rate by several orders of magnitude. A technology is introduced here to form a ductile Fe/Al intermetallic layer on the steel with an alumina over-layer. This technology, consisting of two main steps, hot-dip aluminizing (HDA) and subsequent oxidation behavior, seems to be a promising coating method to fulfill the required goals. According to the experiments that have been done in pure Al, the coatings were inhomogeneous and too thick. Additionally, a large number of cracks and porous band could be observed. In order to solve these problems, the element silicon was added to the aluminum melt with a nominal composition. The influence of silicon on the aluminizing and following oxidation process was investigated. With the addition of silicon into the aluminum melt, the coating became thinner and more homogeneous. The effort of the silicon on the oxidation behavior was observed as well concerning the suppression of porous band and cracks.

In flexible multibody systems, many components are approximated as shells. Classical shell theories, such as Kirchhoff or Reissner-Mindlin shell theory, form the basis of the analytical development for shell dynamics. While such approach is capable of capturing the kinetic energy of the system accurately, it cannot represent the strain energy adequately. For instance, it is well known from three-dimensional elasticity theory that the normal material line will warp under load for laminated composite shells, leading to three-dimensional deformations that generate complex stress states. To overcome this problem, a novel three-dimensional shell theory is proposed in this paper. Kinematically, the problem is decomposed into an arbitrarily large rigid-normal-material-line motion and a warping field. The sectional strains associated with the rigid-normal-material-line motion and the warping field are assumed to remain small. As a consequence of this kinematic decomposition, the governing equations of the problem fall into two distinct categories: the global equations describing geometrically exact shells and the local equations describing local deformations. The governing equations for geometrically exact shells are nonlinear, two-dimensional equations, whereas the local equations are linear, one dimensional, provide the detailed distribution of three-dimensional stress and strain fields. Based on a set of approximated solutions, the local equations is reduced to the corresponding global equations. In the reduction process, a 9 × 9 sectional stiffness matrix can be found, which takes into account the warping effects due to material heterogeneity. In the recovery process, three-dimensional stress and strain fields at any point in the shell can be recovered from the two-dimensional shell solution. The proposed method proposed is valid for anisotropic shells with arbitrarily complex through-the-thickness lay-up configuration.

In structural analysis, many components are approximated as plates. More often that not, classical plate theories, such as Kirchhoff or Reissner-Mindlin plate theories, form the basis of the analytical developments. The advantage of these approaches is that they leads to simple kinematic descriptions of the problem: the plate’s normal material line is assumed to remain straight and its displacement field is fully defined by three displacement and two rotation components. While such approach is capable of capturing the kinetic energy of the system accurately, it cannot represent the strain energy adequately. For instance, it is well known from three-dimensional elasticity theory that the normal material line will warp under load for laminated composite plates, leading to three-dimensional deformations that generate complex stress states. To overcome this problem, several high-order, refined plate theories have been proposed. While these approaches work well for some cases, they often lead to inefficient formulations because they introduce numerous additional variables. This paper presents a different approach to the problem: based on a finite element semi-discretization of the normal material line, plate equations are derived from three-dimensional elasticity using a rigorous dimensional reduction procedure.

In multibody systems, it is common practice to approximate flexible components as beams or shells. More often than not, classical beam theories, such as the Euler–Bernoulli beam theory, form the basis of the analytical development for beam dynamics. The advantage of this approach is that it leads to simple kinematic representations of the problem: the beam's section is assumed to remain plane and its displacement field is fully defined by three displacement and three rotation components. While such an approach is capable of accurately capturing the kinetic energy of the system, it cannot adequately represent the strain energy. For instance, it is well known from Saint-Venant's theory for torsion that the cross-section will warp under torque, leading to a three-dimensional deformation state that generates a complex stress state. To overcome this problem, sectional stiffnesses are computed based on sophisticated mechanics of material theories that evaluate the complete state of deformation. These sectional stiffnesses are then used within the framework of a Euler–Bernoulli beam theory based on far simpler kinematic assumptions. While this approach works well for simple cross-sections made of homogeneous material, inaccurate predictions may result for realistic configurations, such as thin-walled sections, or sections comprising anisotropic materials. This paper presents a different approach to the problem. Based on a finite element discretization of the cross-section, an exact solution of the theory of three-dimensional elasticity is developed. The only approximation is that inherent to the finite element discretization. The proposed approach is based on the Hamiltonian formalism and leads to an expansion of the solution in terms of extremity and central solutions, as expected from Saint-Venant's principle.

In flexible multibody systems, many components are often approximated as beams or shells. More often that not, classical beam theories, such as Euler-Bernoulli beam theory, form the basis of the analytical development for beam dynamics. The advantage of this approach is that it leads to a very simple kinematic representation of the problem: the beam’s section is assumed to remain plane and its displacement field is fully defined by three displacement and three rotation components. While such approach is capable of capturing the kinetic energy of the system accurately, it cannot represent the strain energy adequately. For instance, it is well known from Saint-Venant’s theory for torsion that the cross-section will warp under torque, leading to a three-dimensional deformation state that generates a complex stress state. To overcome this problem, sectional stiffnesses are computed based on sophisticated mechanics of material theories that evaluate the complete state of deformation. These sectional stiffnesses are then used within the framework of an Euler-Bernoulli beam theory based on far simpler kinematic assumptions. While this approach works well for simple cross-sections made of homogeneous material, very inaccurate predictions result for realistic sections, specially for thin-walled beams, or beams made of anisotropic materials. This paper presents a different approach to the problem. Based on a finite element discretization of the cross-section, an exact solution of the theory of three-dimensional elasticity is developed. The only approximation is that inherent to the finite element discretization. The proposed approach is based on the Hamiltonian formalism and leads to an expansion of the solution in terms of extremity and central solutions, as expected from Saint-Venant’s principle.

The treatment of rotations in rigid body and Cosserat solids dynamics is challenging. In most cases, at some point in the formulation, a parameterization of rotation is introduced and the intrinsic nature of the equations of motions is lost. Typically, this step considerably complicates the form of the equations and increases the order of the nonlinearities. Clearly, it is desirable to bypass parameterization of rotation, leaving the equations of motion in their original, intrinsic form. This has prompted the development of rotationless and intrinsic formulations. This paper focuses on the latter approach. The most famous example of intrinsic formulation is probably Euler’s second law for the motion of a rigid body rotating about an inertial point. This equation involves angular velocities solely, with algebraic nonlinearities of the second-order at most. Unfortunately, this intrinsic equation also suffers serious drawbacks: the angular velocity of the body is computed, but not its orientation, the body is “unaware” of its inertial orientation. This paper presents an alternative approach to the problem by proposing discrete statements of the rotation kinematic compatibility equation, which provide solutions for both rotation tensor and angular velocity without relying on a parameterization of rotation. The formulation is also generalized using the motion formalism, leading to very simple discretized equations of motion.