Abstract
Finite element analysis of 3-dimensional large rotation problem has been possible with nonlinear beam element by J.C.Simo,L.Vu-Quoc[1,2]. Their beam model is described by a configulation manifold which involves special orthogonal group SO(3). But the special orthogonal group is noncomutative, so the tangent stiffness matrix becomes non-symmetric away from equilibrium.
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