This paper is eoncerned with the develepment of a curved bearn element in thc arralysis of large deforrnation multibody system dynamics . The absolute nodal coordinate formuiation which has been used in the 1 e deb ation ana [ ysis of multibody systems is generalized to the curved beam element which d。es not suffer from some of existing numerical problcms , Using the position vector grad 童 ent coordinates used in the abso 正 ute nodal coordinate ft ) rmulatiQn , the rQtation and defbrmation 且eld within the e 正 ement can be uniquely defined , and this fbrmulation leads to a constant mass matrix fbr 血 lly nonlinear dynamics problems , In existing beam elements in this fommulation , howeveら since the elastic fbrces are defined using the Green ・ Lagrange strain tensor as a volume element , locking phenornenon associated with the shear and membrane forces leads to erroneously stiffer bending characteristics . In order to avoid this drawback , He 〃inger − Rei∬ ner variational pr 加 ¢ ρ ' e is applied to modify the shear stress distribulion , whi [ e the a ∬ umed ∫ 醐 ゴ η methed is employed to avoid the membrane
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