Kinematics and dynamics of rigid and flexible mechanisms using finite elements and quaternion algebra
A technique for representing large finite rotations in terms of only three independent parameters, the conformal rotation vector, is described and applied to the finite element formulation of 3-D mechanisms problems. A beam finite element that takes into account large finite rotations and various types of rigid joints have been developed. Some test examples which demonstrate the applicability of the proposed technique are presented.
representation of rotation operator in terms of three free parameters
conformal transformation on Euler parameters
scientific article; zbMATH DE number 4090907
scientific article