Frame‐indifferent beam finite elements based upon the geometrically exact beam theory

This paper describes a new beam finite element formulation based upon the geometrically exact beam theory. In contrast to many previously proposed beam finite element formulations the present discretization approach retains the frame‐indifference (or objectivity) of the underlying beam theory. The space interpolation of rotational degrees‐of‐freedom is circumvented by the introduction of a reparameterization of the weak form corresponding to the equations of motion of the geometrically exact beam theory.