Abstract
In the first part of the paper the theory of the 3D dynamics of mechanical systems composed by elastic beams, structures and mechanisms, was studied. These systems are divided into so-called macro-elements and the movement equations of one macro-element were established. Only the Euler-Rodrigues parameters are used to describe the global motion of the system. In this second part of the paper a special finite element (SFET) having four degrees of freedom per node, the Euler-Rodrigues parameters, is described in details. The stiffness and mass matrices are expressed only in nodal Euler-Rodrigues parameters. The most important aspect of the proposed approach is that the exact equations, written for the deformed configuration, are solved. Therefore an extremely accurate and very fast convergent method results. To validate the SFET finite element finally several 2D and 3D, static and dynamic examples are presented and the accuracy of the results is discussed.
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