Introduction to 3D Elasticity
Transcript of Introduction to 3D Elasticity
Reading assignment:
Appendix C+ 6.1+ 9.1 + Lecture notes
Summary:
• 3D elasticity problem•Governing differential equation + boundary conditions•Strain-displacement relationship•Stress-strain relationship
•Special cases2D (plane stress, plane strain)Axisymmetric body with axisymmetric loading
• Principle of minimum potential energy
1D Elasticity (axially loaded bar)
x
y
x=0 x=L
A(x) = cross section at xb(x) = body force distribution (force per unit length)E(x) = Young’s modulusu(x) = displacement of the bar at x
x
1. Strong formulation: Equilibrium equation + boundary conditions
Lxbdxd
0;0
LxatFdxduEA
xatu
00Boundary conditions
Equilibrium equation
F
3. Stress-strain (constitutive) relation : ε(x) E(x)
E: Elastic (Young’s) modulus of bar
2. Strain-displacement relationship:dxduε(x)
Problem definition3D Elasticity
xy
z
Surface (S)
Volume (V)
u v
w
x
V: Volume of bodyS: Total surface of the bodyThe deformation at point x =[x,y,z]T
is given by the 3 components of its displacement
wvu
u
NOTE: u= u(x,y,z), i.e., each displacement component is a function of position
3D Elasticity: EXTERNAL FORCES ACTING ON THE BODY
Two basic types of external forces act on a body1. Body force (force per unit volume) e.g., weight, inertia, etc2. Surface traction (force per unit surface area) e.g., friction
BODY FORCE
xy
z Surface (S)
Volume (V)
u v
w
x
Xa dVXb dV
Xc dVVolume element dV Body force: distributed
force per unit volume (e.g., weight, inertia, etc)
c
b
a
XXX
X
NOTE: If the body is accelerating, then the inertia force
may be considered as part of X
w
vu
u
u~ XX
xy
zST
Volume (V)
u v
w
x
Xa dVXb dV
Xc dVVolume element dV
py
pz
px
Traction: Distributed force per unit surface area
z
y
x
ppp
T S
SURFACE TRACTION
3D Elasticity: INTERNAL FORCES
If I take out a chunk of material from the body, I will see that, due to the external forces applied to it, there are reaction forces (e.g., due to the loads applied to a truss structure, internal forces develop in each truss member). For the cube in the figure, the internal reaction forces per unit area(red arrows) , on
each surface, may be decomposed into three orthogonal components.
xy
z
Volume (V)u v
w
x
Volume element dV
x
y
z
yz
yx
xyxz
zyzx
3D Elasticity
zx
yz
xy
z
y
x
xy
z
x
y
z
yz
yx
xy
xz
zyzx
x, y and z are normal stresses.The rest 6 are the shear stressesConventionxy is the stress on the face perpendicular to the x-axis and points in the +ve y directionTotal of 9 stress components of which only 6 are independent since
xzzx
zyyz
yxxy
The stress vector is therefore
Strains: 6 independent strain components
zx
yz
xy
z
y
x
Consider the equilibrium of a differential volume element to obtain the 3 equilibrium equations of elasticity
0
0
0
czyzxz
byzyxy
axzxyx
Xzyx
Xzyx
Xzyx
3D elasticity problem is completely defined once we understand the following three concepts
Strong formulation (governing differential equation + boundary conditions)
Strain-displacement relationship
Stress-strain relationship
1. Strong formulation of the 3D elasticity problem: “Given the externally applied loads (on ST and in V) and the specified displacements (on Su) we want to solve for the resultant displacements, strains and stresses required to maintain equilibrium of the body.”
xy
z
Su
ST
Volume (V)
u v
w
x
Xa dVXb dV
Xc dVVolume element dV
py
pz
px
VinXT 0 Equilibrium equations (1)
Boundary conditions
1. Displacement boundary conditions: Displacements are specified on portion Su of the boundary
uspecified Sonuu
2. Traction (force) boundary conditions: Tractions are specified on portion ST of the boundaryNow, how do I express this mathematically?
xy
z
Su
ST
Volume (V)
u v
w
x
Xa dVXb dV
Xc dVVolume element dV
py
pz
px
Traction: Distributed force per unit area
z
y
x
ppp
T S
Traction: Distributed force per unit area
z
y
x
ppp
T S
n
nx
ny
nz
ST
TS
py
px
pz
If the unit outward normal to ST :
z
y
x
nnn
n
Then
zzyzyxxz
zyzyyxxy
zxzyxyxx
nnnnnnnnn
z
y
x
ppp
nx
ny
ST
In 2D
dy
dx
ds
x
y
n
x
y
ndsdy
ndsdx
cos
sin
TSpy
px
dy
dxdsx
y
xy
xy
Consider the equilibrium of the wedge in x-direction
yxyxxx
xyxx
xyxx
nnpdsdx
dsdyp
dxdydsp
Similarlyyyxxyy nnp
3D elasticity problem is completely defined once we understand the following three concepts
Strong formulation (governing differential equation + boundary conditions)
Strain-displacement relationship
Stress-strain relationship
x
y
A B
CA’
B’
C’
vudy
dx
dxxv
xdxuu
dyyu
dyyvv
xu
xv
tanβtanβββ)B'A'(C'angle2π
yv
dy
dyvdyyvvdy
ACACC'A'
xu
dx
dxudxxuudx
ABABB'A'
2121
xy
y
x
1
2
In 2D
3D elasticity problem is completely defined once we understand the following three concepts
Strong formulation (governing differential equation + boundary conditions)
Strain-displacement relationship
Stress-strain relationship
3. Stress-Strain relationship:
Linear elastic material (Hooke’s Law) D (3)
Linear elastic isotropic material
22100000
02210000
00221000
000100010001
)21)(1(
ED
Special cases:
1. 1D elastic bar (only 1 component of the stress (stress) is nonzero. All other stress (strain) components are zero)Recall the (1) equilibrium, (2) strain-displacement and (3) stress-strain laws2. 2D elastic problems: 2 situations
PLANE STRESSPLANE STRAIN
3. 3D elastic problem: special case-axisymmetric body with axisymmetric loading (we will skip this)
PLANE STRESS: Only the in-plane stress components are nonzero
x
y
Area element dA Nonzero stress components xyyx ,,
y
xxy
xy
h
DAssumptions:1. h<<D2. Top and bottom surfaces are free from traction3. Xc=0 and pz=0
Nonzero strains: xyzyx ,,,
Isotropic linear elastic stress-strain law
xy
y
x
xy
y
x E
2100
0101
1 2
Hence, the D matrix for the plane stress case is
2100
0101
1 2
ED
D
yxz
1
Nonzero stresses: xyyx ,,PLANE STRESS
PLANE STRAIN: Only the in-plane strain components are nonzero
Area element dA
Nonzero strain components
y
x
xyxy
Assumptions:1. Displacement components u,v functions of (x,y) only and w=0 2. Top and bottom surfaces are fixed 3. Xc=0 4. px and py do not vary with z
xyyx ,,
x
y
z
PLANE STRAIN Examples:1. Dam
2. Long cylindrical pressure vessel subjected to internal/external pressure and constrained at the ends
1
Slice of unit thickness
x
y
z
y
xxy
xyz
Nonzero stress:
Isotropic linear elastic stress-strain law
xy
y
x
xy
y
x E
22100
0101
211
Hence, the D matrix for the plane strain case is
22100
0101
211
ED
D
z x y
xyzyx ,,,
Nonzero strain components: xyyx ,,
PLANE STRAIN
Example problem
x
y
3
2 1
4
2
2The square block is in plane strain and is subjected to the following strains
2
2 3
2
3x
y
xy
xy
xy
x y
Compute the displacement field (i.e., displacement components u(x,y) and v(x,y)) within the block
Solution
Recall from definition
)3(
)2(3
)1(2
32
2
yxxv
yu
xyyv
xyxu
xy
y
x
Integrating (1) and (2)
)5()(),(
)4()(),(
23
12
xCxyyxv
yCyxyxu
Arbitrary function of ‘x’
Arbitrary function of ‘y’
Plug expressions in (4) and (5) into equation (3)
0)()(
)()(
)()(
)3(
21
322312
3223
12
32
xxC
yyC
yxxxCy
yyCx
yxx
xCxyy
yCyx
yxxv
yu
Function of ‘y’ Function of ‘x’
)constanta()()( 21 CxxC
yyC
Hence
Integrate to obtain
22
11
)()(
DCxxCDCyyC
D1 and D2 are two constants of
integration
Plug these back into equations (4) and (5)
23
12
),()5(
),()4(
DCxxyyxv
DCyyxyxu
How to find C, D1 and D2?
Use the 3 boundary conditions
0)0,2(0)0,0(0)0,0(
vvu
To obtain
00
0
2
1
DDC
Hence the solution is
3
2
),(
),(
xyyxv
yxyxu
x
y
3
2 1
4
2
2
Principle of Minimum Potential Energy
Definition: For a linear elastic body subjected to body forces X=[Xa,Xb,Xc]T and surface tractions TS=[px,py,pz]T, causing displacements u=[u,v,w]T and strains and stresses , the potential energy is defined as the strain energy minus the potential energy of the loads involving X and TS
U-W
xy
z
Su
ST
Volume (V)
u v
w
x
Xa dVXb dV
Xc dVVolume element dV
py
pz
px
TSS
T
V
T
V
T
dSTudVXu
dV
W
21U
Strain energy of the elastic body
V
T
V
T dVDdV 21
21U
DUsing the stress-strain law
In 1D
L
xVVAdxEdVEdV
0
22
21
21
21U
In 2D plane stress and plane strain
V xyxyyyxx dV
21U
Why?
Principle of minimum potential energy: Among all admissible displacement fields the one that satisfies the equilibrium equations also render the potential energy a minimum.
“admissible displacement field”: 1. first derivative of the displacement components exist2. satisfies the boundary conditions on Su