@article{Brugnoli_2026,
  title={{Mixed finite element discretization of intrinsic geometrically exact beams for multiplier-free multibody dynamics}},
  volume={231},
  ISSN={0094-114X},
  DOI={10.1016/j.mechmachtheory.2026.106654},
  journal={Mechanism and Machine Theory},
  publisher={Elsevier BV},
  author={Brugnoli, Andrea and Kinon, Phi L. and Sanfedino, Francesco and Betsch, Peter and Bauchau, Olivier A.},
  year={2026},
  pages={106654}
}