Lie Group Variational Integrator for the Geometrically Exact Rod with Circular Cross-Section Incorporating Cross-Sectional Deformation

Srishti Siddharth, Vivek Natarajan, Ravi N. Banavar

In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional def…