Local coordinates on Lie groups for half-explicit time integration of Cosserat-rod models with constraints

Explicit Runge-Kutta methods are the gold standard of time-integration methods for nonstiff problems in system dynamics since they combine a small numerical effort per time step with high accuracy, error control, and straightforward implementation. For the analysis of beam dynamics, we couple them with a local coordinates approach in a Lie group setting to address large rotations. Stiff shear forces and inextensibility conditions are enforced by internal constraints in a coarse-grid discretization of a geometrically exact beam model. The resulting nonstiff constrained systems are handled by a half-explicit approach that relies on the constraints at velocity level and avoids all kinds of Newton-Raphson iteration. We construct half-explicit Runge-Kutta Lie group methods of order up to five that are equipped with an adaptive step-size strategy using embedded Runge-Kutta pairs for error estimation. The methods are tested successfully for a roll-up maneuver of a flexible beam and for the classical flying-spaghetti benchmark.