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Torsion: 1
Schematic of solid cylinder under torsion: 2
Assumptions: 3
Boundary conditions : 6
Stress component on any oblique plane 6
Validation cases : 15
Solid Cylinder 16
Thin walled Cylinder. 17
One cylinder mounted on a smaller cylinder of same/different material 18
Stepped Shaft 18
References : 20
Torsion:
Torsion is defined as twisting of a structural member when we apply a couple that produces a
rotation about longitudinal axis of structural member.
Schematic of torsion
http://cramster-image.s3.amazonaws.com/definitions/mech-35-img-1.png
Solid cylinder
In the above figure we have a solid cylinder with cross sectional area A and length L. after
applying a twisting couple T on the right end of cylinder, an equilibrium will be produced at left
end of cylinder. Now due to action of torque an originally straight line AB will be deformed into
AB*line.
Assumptions:
1. Plane cross section of the torsion member will remains plane after deformation.
2. All radii will remain straight after deformation.
3. Neglecting body forces.
4. Stress distribution is same for all cross section.
5. For small displacements, each cross section will rotate as a rigid body about longitudinal
axis ( Z-axis) in other word, all the radius remain inextensible.
6. For small deformations, angular displacement of a given section depends linearly on its
distance z from the plane z=0.
β= θZ
Here,
β = angular displacement of a given cross section
θ= angle of twist per unit length of the shaft
z= distance of a given cross section from plane z=0
Consider a cross section at distance z from plane z=0.
As we apply torque at right end of the shaft then point P displaced to point P* in chosen
cross section. Radial distance OP & OP* are equal. So the displacement components u
and v can be calculated as follows:
u = x*-x = OP[cos(β+ϕ) - cosϕ]
v = y*-y = OP[sin(β+ϕ) - sinϕ]
After simplification we will get
u=x(cosβ-1) - ysinβ
v= xsinβ + y(cosβ -1)
For small angular displacement: sinβ ≈ β ; cosβ ≈ 1
So, displacement components of a point in circular shafts subjected to a torque T is
given by
u = -yβ
v = xβ
w= 0 where β = θz
Since we have displacement components, so we can calculate strain component of a
point in given cross section from small displacement theory.
Strain component of a point in cross section:
εxx ≅ ∂u/∂x ; εyy ≅ ∂v/∂y ; εzz ≅ ∂w/∂z
εxy ≅ 0.5[(∂u/∂y) + (∂v/∂x)]
εyz ≅ 0.5[(∂v/∂z) + (∂w/∂y)]
εzx ≅ 0.5[(∂w/∂x) + (∂u/∂z)]
εxx= εyy=
εzz=
0
εxy= 0
2εyz= θx = γyz
2εzx = - θy = γzx
Now we have to check that whether compatibility equation is satisfied or not.
Compatibility equations
(∂2 εyy /∂x2 ) + (∂2 εxx /∂y2 ) = 2(∂2 εxy /∂x ∂y)
(∂2 εzz /∂x2 ) + (∂2 εxx /∂z2 )= 2(∂2 εxz /∂x ∂z)
(∂2 εzz /∂y2 ) + (∂2 εyy /∂z2 )= 2(∂2 εyz /∂y ∂z)
(∂2 εzz /∂x ∂y) + (∂2 εxy /∂z2 ) = (∂2 εyz /∂z ∂x) + (∂2 εzx /∂y ∂z)
(∂ εyy /∂x ∂z) + (∂ εxz /∂y ) = (∂ εxy /∂y ∂z) + (∂ εyz /∂x ∂y)
2 2 2 2 2
(∂2 εxx /∂y ∂z) + (∂2 εyz /∂x2 ) = (∂2 εxz /∂x
∂y) + (∂2 εxy /∂x ∂z)
Since, we have εxx = εyy=
εzz = εxy=
0 & 2εyz=
θx; 2εxz=
-θy
We can verify that compatibility equations are satisfied.
Now we have to check that whether equilibrium equations are satisfying or not:
Equilibrium equations
((∂σxx )/ ∂x) + ((∂σyx) / ∂y) + ((∂σzx ) / ∂z) + Bx =0
((∂σxy )/ ∂x) + ((∂σyy) / ∂y) + ((∂σzy) / ∂z) + By =0
)/ ∂x) + ((∂σyz
((∂σxz ) / ∂y) + ((∂σzz ) + ∂z) + Bz =0
Since we assumed that body forces are negligible. So we found that equations of
equilibrium are satisfying.
Boundary conditions :
1. No forces on lateral surface of shaft.
2. At the ends of shaft, net moment should equal to applied couple(T) and resultant
force vanishes.
Notations :
σij=
stress acting in j direction on a plane which is perpendicular to i-axis.
here l,m & n are direction cosines of unit normal vector.
We have σxx = σyy = σzz = σxy =0 and direction cosines of unit normal vector to lateral
surface are (l,m,0).
So, we can verify that no forces on lateral surface of the shaft.
2nd boundary condition: At the ends, net moment is equal to applied torque(T).
Σ M
z = T = ∫A (xσzy - yσzx)
dA
Substitute values of σzx & σzy in above equation to get final result.
T= ∫A (xGθx - y(- Gθy)) dA
T= Gθ ∫ A (x2 +y2 ) dA ⇒ T= Gθ∫A r2 dA
Integral in above equation is polar moment of inertia of circular cross section(J) and J is given
by
T= GJθ
Stress vector (𝜏) reside in plane of cross section and perpendicular to radial vector OP.
Manipulate value of θ, so we get relation between applied torque(T) and magnitude of
stress vector(𝜏).
𝜏max = θGb ; here b= radius of cross section
We can use above relation for cylindrical with hollow circular cross section with inner radius a
and outer radius b. Now polar moment of inertia (J) is given by
(b4 -a4 ) / 2
J= π
Torsion in composite shafts :
A composite shaft made of two or more members of same or different materials is held together.
Torque will transmit in each member and transmitted torque is shared by each member
depending upon their diameters and material properties.
First of all, we will find twisting moment in each member by moment equilibrium with free body
diagrams. Then we can identify that in which member maximum shear stress would occur based
on magnitude of twisting moment.
For example:
http://3.bp.blogspot.com/-17cJl6KrSKA/UG01chf7F8I/AAAAAAAAAWY/qk41CqC3LTU/s1600/o
o.bmp
1. Composite Shafts:
end
2.Composite beams:
%% Composite beams- Angle of twist
% assuming same G i.e., same material is used for a geometry, different G
% may be entered for different geometries.
% Enter in SI units
prompt= 'Enter the lengths and the corresponding diameters of the shaft a s
the rows of this Cell = '; % example {1 0.02; 2 0.03}
X= input(prompt);
G=input('Enter G = '); % Shear modulus
M=input('Enter M = '); % Twisting Moment
rows = size(X,1);
if size(G)==1
G1= G*ones(1,rows);
else; G1= G;
end
phi = zeros(1, rows); % phi containing individual twisting angle of
different sections of the shaft
I_values = zeros(1,rows); % vector storing individual I values of
different sections of shaft
for i=[1:rows]
L= X{i,1}; % length of the selected shaft
d= X{i,2}; % diameter of the selected shaft
I= I_d(d); % Polar moment of inertia of selected shaft
G2 = G1(i);
phi(i)= twist_angle(M, L, G2, I);
I_values(i)= I;
end
tot= sum(phi); % total angle of twist
deg = tot*180/pi;
fprintf('The total angle of twist is %4.2f degrees\n', deg)
3. I_D
function [I] = I_d(dia1, dia2)
% I_d Gives Polar Moment of Inertia for a given diameter of Circular shaft
% use SI units only
% Inputs: dia1 is outer diameter dia2 is inner diameter
switch nargin
case 1
if size(dia1)==[1 2]
diff = dia1(1)^4 - dia1(2)^4;
I = pi*diff/32;
else
I = pi*(dia1)^4/32;
end
case 2
diff = dia1^4 - dia2^4;
I = pi*diff/32;
if I<0
error('Check the input diameters')
end
end
4. Local_M
function [M] = local_M(Ltotal, Mx, x)
%LOCAL_M gives local twisting moment at input distance x when multiple
%moments are applied at different lengths
% Use SI units only
% inputs are as follows
% counterclockwise moments are to be positive, origin is at fixed end
% Ltotal= total length
% Mx= Matrix with first column containing Moments and second column
% containing their corresponding distances of application from origin
% VERY IMPORTANT: the second column of Mx, i.e., the distances from
% origin, should be in ASCENDING ORDER.
% x is the distance of the desired point from the origin.
supportM = -1* sum(Mx(:,1));
[rows,~]= size(Mx);
for i=1:rows
if x< Mx(1,2)
M = -1*supportM;
return
elseif x< Mx(i,2)
M= -1*(supportM+ sum(Mx(1:i-1,1)));
return
end
end
if x>= Mx(rows,2) & & x<= Ltotal
M = 0;
return
elseif x> Ltotal
error('Please c heck input distances')
end
end
end
end
Validation cases :
Test Methodology: Our code is not so general that each and every problem can be solved by
using our code. Majority of them have some twist which our code is unable to accomplish.
Therefore, we have taken a part of many problems to validate our results. And because of this
reason we have not given any specific examples of textbook problems.
General Cases:
1. Angle of twist should be zero at the joint of wall and beam.
Φ = T L/JG
At the wall, L=0, hence Φ =0
By the above formula we can say that at joint of wall and beam, L is zero thus angle of twist
will be zero
Test Methodology: In all functions which calculate the twist angle, if we will put L=0, we will get
desired condition.
2. Value of shear stress should be zero on axis of geometry.
𝜏 = Tr / J
r= 0; hence 𝜏 = 0
r will be zero for axis of geometry hence shear stress will be zero
1) Solid Cylinder
● The Approximated analytical solution of thin walled cylinder yields that if the
difference between radii of inner and outer is very small, variation of shear stress
along the radius is not much effective. Here, We have validated the same by
taking very low difference between the inner and outer radii.
One cylinder mounted on a smaller cylinder of same/different material
● Geometric Compatibility.
The Φ at the surface of contact would be the same for both the cylinders.
Hence, the Φ for outer cylinder would be its own Φ , plus the Φ of inner cylinder.
The shear stress would act as if the cylinders were not in contact.
Stepped Shaft
● Geometric Compatibility at the joints. That is, Φ at all the joints should be
continuous. Example: l1=2m, d1=0.04, l2= 1m, d2=0.06m; G=2 GPa; M=100 Nm
Φ 1 =0.3979, Φ 2 = Φ 1 + 0.0393= 0.4372 radians
● Very large number of stepped shaft. : It is done just to ensure that code is valid
for very large number of stepped region.
4) Solid Cylinder with multiple moment applied at different location.
● Calculating maximum shear stress in different region.
● Calculating the value of maximum of shear stress at the location of application of
moment.
● Geometric Compatibility.
5) Hollow Cylinder with multiple moment applied at different location.
6) Composite beams.
● Geometric Compatibility: Calculating twist angle at every interface of both the
material to check whether both of them are equal or not.
Not Validated:
1.) If all other data are given for hollow cylinder and we have to calculate inner and outer
diameter of the cylinder.
2.) Yield Criterion is not applicable, so very large stress strain are also permissible.
3.) Calculation of length by back calculation of twist angle.
4.) Calculation of strain
References :
1. Advanced mechanics of materials - ARTHUR P. BORESI (6th edition)
2. https://gradeup.co/torsion-of-circular-shafts-i-0bb3f8c4-bea6-11e5-ba24-afe88cbc1fef
3. http://mjv.50webs.com/solids/images/cylinder.png
4. http://www.ecourses.ou.edu/ebook/mechanics/ch02/sec023/media/d2341.gif
5. http://s3.amazonaws.com/answer-board-image/888cb551-5dfa-49f7-bb3f-401fd1378592
.jpeg
6. https://www.physicsforums.com/attachments/pek8r-png.179827/
7. http://www.codecogs.com/users/23287/Torsion-003.png