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A shell is a body enclosed between two closely spaced and curved surfaces. Classical theory of shells , ,  assumes a parametrization along the lines of principal curvature on the middle surface of a shell. Such a parametrization, while always existing locally, is not known for many surfaces, and deriving one can be very difficult if not impossible. This paper generalizes the classical straindisplacement equations and strain energy formula to a shell with an arbitrary parametricdoi:10.1109/iros.2008.4651061 dblp:conf/iros/JiaT08 fatcat:p4aik7zjdnc5fcmf2mjgzzbcra