“…We consider the geometrically exact finite strain beam theory introduced by Reissner (1973Reissner ( , 1981 [34,35] and Antman (1974) [1] and further extended by Simo and co-workers (1985,1986,1991,1995) [43,45,46,44]. Since these pioneering works, considerable progress has been made on the geometrically exact analysis of three-dimensional framed structures, from both theoretical and numerical points of view, see e.g.…”