Three-dimensional finite deformation beam model

Dear all,

Has anyone ever tried to implement Simo's three-dimensional finite-strain rod model (1986) Here is the link of the paper:  (http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V29-47X7BWC-44&_user=4423&_coverDate=10%2F31%2F1986&_alid=934572023&_rdoc=41&_fmt=high&_orig=search&_cdi=5697&_sort=d&_docanchor=&view=c&_ct=48&_acct=C000059605&_version=1&_urlVersion=0&_userid=4423&md5=acfb1cd82c32b5f08581236e71b38cb4)

I have spotted a couple of typos in the formulation, but I may still be missing a few ones since my solution does not converge for every situation. To be more specific, the way the configuration is updated ( especially for the incremental rotation) might be tricky.

Any comment or suggestion is more than welcome.

 Sincerely,

 Rani