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Dynamics of spatial beams in quaternion description based on the Newmark integration scheme [Elektronski vir]
Zupan, Eva ; Zupan, Dejan, mehanik ; Saje, Miran
The rotational quaternions are the unique four dimensional representation of rotations in three dimensional Euclidean space. In the present paper they are used as the basic rotational parameters in ...formulating the finite-element approach of geometrically exact beamlike structures. The classical concept of parametrizing the rotation matrix by the rotational vector is completely abandoned so that the only rotational parameters are the rotational quaternions representing both rotations and rotational strains in the beam. The space discretization based on the collocation method is used and the adjustment of the Newmark time-integration algorithm to the quaternion parametrization of rotation is presented
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