Extension of non-linear beam models with deformable cross sections

Geometrically exact beam theory is extended to allow distortion of the cross section. We present an appropriate set of cross-section basis functions and provide physical insight to the cross-sectional distortion from linear elastostatics. The beam formulation in terms of material (back-rotated) beam internal force resultants and work-conjugate kinematic quantities emerges naturally from the material description of virtual work of constrained finite elasticity. The inclusion of cross-sectional deformation allows straightforward application of three-dimensional constitutive laws in the beam formulation. Beam counterparts of applied loads are expressed in terms of the original three-dimensional data. Special attention is paid to the treatment of the applied stress, keeping in mind applications such as hydrogel actuators under environmental stimuli or devices made of electroactive polymers. Numerical comparisons show the ability of the beam model to reproduce finite elasticity results with good efficiency.