On the geometrically exact beam model: a consistent, effective and simple derivation from three-dimensional finite elasticity

The goal of the present work is to emphasize some intrinsic features of the three-dimensional beam model originally proposed by Simo [Simo, J.C., 1985. A finite-strain beam formulation. The three-dimensional dynamic problem. Part I. Comput. Methods Appl. Mech. Eng. 49, 55-70] and to derive the model equations for the general finite-deformation case as well as for the finite-deformation small-strain case in a consistent but simpler way with respect to what it is generally done in the literature.