.. _dynamic_cable:
Dynamic cable (FEA)
===================
Dynamic cables are based on Finite Element Analysis (FEA) elements : thin cylindrical beams with two nodes and Euler-Bernoulli formulation.
The section and material properties are assumed constant along the beam. Stretch, torsion and flexion are included, while
shear is not considered in Euler-Bernoulli theory.
.. _fig_dynamic_cable:
.. figure:: _static/dynamic_cable.png
:align: center
:alt: Dynamic_Cable
Thin beams with two nodes and Euler-Bernoulli theory
The properties of the section of the beam are defined using the following parameters :
- radius :math:`r`, in m
- area :math:`A`, in m²;
- linear density :math:`q`, in kg/m;
- Young modulus :math:`E`, in Pa;
- area moment of inertia :math:`I_{rr}`, in kg.m² ;
- shear modulus :math:`G` (for torsional effects);
- torsion constant :math:`J`;
- Rayleigh damping :math:`D_R`.
For more information about the theory, refer to [TASORA]_.
REFERENCE
---------
.. [TASORA] Tasora, 2016, Euler-Bernoulli corotational beams in Chrono::Engine, http://www.projectchrono.org/assets/white_papers/FEA/euler_beams.pdf