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The composite steel–concrete rigid frame bridge is composed of steel or composite girders connecting rigidly to RC piers, and has advantages of lower maintenance costs, faster construction, and higher resistance and ductility during an earthquake. In this paper, a new type of steel–concrete composite rigid connection is developed and studied by finite element analysis. The comparison with other types of connections shows that this new type of connection has a good structural performance from the confining of concrete by steel and preventing the buckling of steel by concrete.