“…Concerning the kinematic description employed in FE formulations for geometrically nonlinear structural analysis, existing three‐dimensional beam element formulations can be classified into three categories: the total Lagrangian formulation, the updated Lagrangian formulation and the corotational formulation (Felippa and Haugen, 2005). The corotational approach being the most recent (Alsafadie et al , 2010, 2011a, b, c; Felippa and Haugen, 2005; Battini and Pacoste, 2002a, b; Crisfield and Moita, 1996; Chen et al , 2006; Li, 2007a, b; Garcea et al , 2009) is also the least utilized and developed. Its main ideas can be summarized as:- Define a local reference system attached to the element, which translates and rotates with the element overall rigid‐body motion, but does not deform with the element.
- Define nodal variables relative to this system, thus the element overall rigid‐body motion is excluded when computing the local internal force vector and element tangent stiffness matrix, resulting in an element‐independent formulation.
- The geometric nonlinearity induced by element large rigid‐body motion is incorporated into the transformation matrix relating local and global internal force vectors as well as local and global tangent stiffness matrices.
In comparison with the total and the updated Lagrangian formulations, a corotational element formulation has two relative advantages (Felippa and Haugen, 2005; Battini and Pacoste, 2002a, b; Crisfield and Moita, 1996; de Ville de Goyet, 1989):- the integration of the constitutive equation in the corotational formulation takes the same simple form as in the case of small deformation theory; and
- the transformation matrix between the local and global nodal entities is independent of the assumptions made for the local element.
Thus, many existing high‐performance elements for geometrically linear problems can be reused along with the corotational approach to solve large displacement and large rotation problems.…”