Introduction to Theory of

Elasticity

2011 Summer
Kengo Nakajima
Technical & Scientific Computing I (4820-1027)
Seminar on Computer Science (4810-1204)
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• Theoryy of Elasticity
y
– Target
– Stress
– Governing Equations
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Theory of Elasticity
• Continuum Mechanics, Solid Mechanics
• Elastic Material
– Theory of Elasticity,
Elasticity Elastomechanics
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What is Elastic Material ?

• Deformation is proportional
to load
– Hooke’s law

Load
– Example
• Spring kx = -mg
• Metal, Fiber, Resin

Deformation
– If load is removed, deformation
goes to 0 0.
• Original shape
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If load ((deformation)) increases,

material is not elastic any more
• Yield
– Yield point
Yield Point
– Elastic limit

• Inelastic Load

• Plastic Deformation
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Deformation does not g

go to 0 with
removed load, after elastic limitation.
• Initial shape is not
recovered any more
more. Yield Point
• Permanent deformation

Load

Deformation
Permanent
Deformation
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Theoryy of Elasticity
y covers …
• Up to Yield Point, Elastic
Limitation
– Small deformation
– Infinitesimal theory

Load
• S
Shape
ape does not
ot cchange
a ge
– Linear
• Plastic/Inelastic⇒Nonlinear
Deformation
– More interesting part of research
• Elasticity
El ti it iis more iimportant
t t iin practical
ti l engineering
i i
– To control load/deformation below elastic limitation is
i
important
t t
– Plastic/Inelastic: Accident condition
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• Theoryy of Elasticity
y
– Target
– Stress
– Governing Equations
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Stress (1/6)
• If external force is elastic body
body, the body deforms
deforms,
and resists against external force by internal force
generated by intermolecular forcesforces.
• Deformation of the body reach steady state, when
external
t l force
f and
d internal
i t l fforce are balanced.
b l d
• External Force
– Surface force
– Body force
• External/Internal forces are vectors.
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Stress (2/6)
• An elastic body in under balanced condition with
external forces at “n” points.

Pn-1

P1

Pn

P2
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Stress (3/6)
• If we assume an arbitrary surface S,
S internal force
between part-A and part-B acts on through surface S.

Pn-1

P1
A B
Pn

S P2
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Stress (4/6)
part A
• Consider small surface ΔS on surface S of part-A,
and resultant force vector ΔF
i considered
• If p is id d as averaged d fforce per area
ΔF/ΔS with infinitesimal ΔS, p is called “stress
vector”
t ”

Pn-1 ΔF
p = lim
ΔF ΔS →0 ΔS

A ΔS

Pn

S
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Stress (5/6)
• Stress: Force Vector p
per Unit Surface
– Positive for extension, negative for compression
• On a surface
– Normal: Normal stress）
– Parallel: Shear stress）
• “Yield Stress” is an important design parameter.
Pn-1 ΔF
p = lim
ΔF ΔS →0 ΔS

A ΔS

Pn

S
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Stress (6/6)
• Stress components in orthogonal coordinate
system
– 9 components t in
i 3D
– normal stress σ
– shear
h stress
t τ

⎧σ x τ xy τ xz ⎫
{σ} = ⎪⎨τ yx σ y τ yz ⎪⎬
⎪τ τ σ ⎪
⎩ zx zy z⎭
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• Theoryy of Elasticity
y
– Target
– Stress
– Governing Equations
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Governing Equations in Theory of

Elasticity
• Equilibrium Equations
• Compatibility Conditions
– Displacement-Strain
p
• Constitutive Equations
– Stress-Strain

• 2D example
l
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∂σ y ∂τ yx
σy + dy τ yx + dy
Equilibrium
q ∂y ∂y

Equations dx ∂τ xy
τ xy + dx
dyy ∂x
σx ∂σ x
i X
in X-axis
i G σx + dx
∂x
τ xyy
Infinitesimal
y
Element τ yx
σy
z x
⎛ ∂σ x ⎞
⎜σ x + dx ⎟dy ×1 − σ x ⋅ dy × 1
⎝ ∂x ⎠
⎛ ∂τ yx ⎞
+ ⎜⎜τ yx + dy ⎟⎟dx ×1 − τ yx ⋅ dx ×1 + X ⋅ dx ⋅ dy × 1 = 0
⎝ ∂y ⎠ Body Force
∂σ x ∂τ yx in X-direction
+ +X =0
∂x ∂y
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∂σ y ∂τ yx
σy + dy τ yx + dy
Equilibrium
q ∂y ∂y

Equations dx ∂τ xy
τ xy + dx
dyy ∂x
σx ∂σ x
i Y
in Y-axis
i G σx + dx
∂x
τ xyy
Infinitesimal
y
Element τ yx
σy
z x
⎛ ∂σ y ⎞
⎜⎜ σ y + dy ⎟⎟dx × 1 − σ y ⋅ dx ×1
⎝ ∂y ⎠
⎛ ∂τ xy ⎞
+ ⎜⎜τ xy + dx ⎟⎟dy × 1 − τ xy ⋅ dy ×1 + Y ⋅ dx ⋅ dy ×1 = 0
⎝ ∂x ⎠ Body Force
∂σ y ∂τ xy in Y-direction
+ +Y = 0
∂y ∂x
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∂σ y ∂τ yx
σy + dy τ yx + dy
∂y ∂y

Moment around dx ∂τ xy
τ xy + dx
dyy ∂x
σx ∂σ x
Z i
Z-axis G σx + dx
∂x
τ xyy
at point
point-G
G
y
τ yx
σy
z x

⎛ ∂τ xy ⎞ dx dx
⎜⎜τ xy + ⎟
dx ⎟dy ×1× + τ xy dy ×1×
⎝ ∂x ⎠ 2 2
⎛ ∂τ yx ⎞ dy dy
− ⎜⎜τ yx + dy ⎟⎟dx ×1× − τ yx dx ×1× =0
⎝ ∂y ⎠ 2 2
∴τ xy = τ yx
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Equilibrium Equations in 2D

∂σ x ∂τ xy
+ +X =0
∂x ∂y
∂σ y ∂τ xy
+ +Y = 0
∂y ∂x
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Equilibrium Equations in 3D
6 Independent Stress Components
τ xy = τ yx ⎧σ x τ xy τ zx ⎫
τ yz = τ zy {σ} = ⎪⎨τ xy σ y τ yz ⎪⎬
⎪τ τ σ ⎪
τ zx = τ xz ⎩ zx yz z⎭

∂σ x ∂τ xy ∂τ zx
+ + +X =0
∂x ∂y ∂z
∂τ xy ∂σ y ∂τ yz
+ + +Y = 0
∂x ∂y ∂z
∂τ zx ∂τ yz ∂σ z
+ + +Z =0
∂x ∂y ∂z
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What is “Strain”
Strain ?
• Solid Mechanics
– Load – Deformation
• Stress
S
– Load/Force per unit surface
• Strain
– Rate of Deformation/Displacement
p
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Strain: Rate of Displacement

• Normal strain
L ΔL
ΔL
ε=
L

• Shear strain
Δx
Δx
γ=
L
L
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Strain-Displacement
p
• Displacement in 3D: (u, v, w)
• for
f 2D IInfinitesimal
fi it i l ElElementt
– Before Deformation: P, Q, R, After Deformation: P’, Q’,
R’
R’
R P : ( x, y )
Q : ( x + dx, y )
∂u / ∂y R : ( x, y + dy )
d
dy Q’
P' : ( x + u , y + v)
P’
y ∂u ∂v
∂v / ∂x Q': ( x + dx
d + u + dx d , y + v + dxd )
∂x ∂x
P dx Q ∂u ∂v
R': ( x + u + dy d , y + dy
d + v + dy d )
∂y ∂y
z x
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Normal Strain - Displacement

p
• PQ⇒P’Q’ ⎧⎛ ∂u ⎞ ⎫
⎨⎜ x + dx + u + dx ⎟ − (x + u )⎬ − dx
⎩⎝ ∂x ⎠ ⎭ ∂u
εx = =
dx ∂x

R’
R
∂u
εx =
∂u / ∂y ∂x
d
dy Q’ ∂v
εy =
∂y
P’
y ∂v / ∂x
∂w
εz =
∂z
P dx Q

z x
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Shear Strain - Displacement

p

R’ ∂u ∂v
R γ xy = +
∂y ∂x
∂u / ∂y ∂v ∂w
γ yz = +
Q’ ∂z ∂y
d
dy
∂w ∂u
P’ γ zx = +
y ∂x ∂z
∂v / ∂x

P dx Q

z x
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Compatibility
p y Conditions
• 2D
2 2
∂ 2ε x ∂ ε y ∂ γ xy
2
+ 2 =
∂y ∂x ∂x∂y
• 3D
2 2
∂ εx ∂ 2ε y ∂ 2γ xy ∂ 2ε y∂ εz ∂ 2γ yz ∂ 2ε z ∂ 2ε x ∂ 2γ zx
2
+ 2 = , 2
+ 2 = , 2
+ 2 =
∂y ∂x ∂x∂y ∂z ∂y ∂y∂z ∂x ∂z ∂z∂x
∂ 2ε x ∂ ⎛ ∂γ yz ∂γ zx ∂γ xy ⎞
2 = ⎜⎜ − + + ⎟⎟
∂y∂z ∂x ⎝ ∂x ∂y ∂z ⎠
∂ 2ε y ∂ ⎛ ∂γ zx ∂γ xy ∂γ yz ⎞
2 = ⎜⎜ − + + ⎟⎟
∂z∂x ∂y ⎝ ∂y ∂z ∂x ⎠
∂ 2ε z ∂ ⎛ ∂γ xy ∂γ yz ∂γ xz ⎞
2 = ⎜⎜ − + + ⎟⎟
∂x∂y ∂z ⎝ ∂z ∂x ∂y ⎠
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Constitutive Eqn’s:
q Stress-Strain ((1/3))
• Young’s Modulus E
– Stress
Stress-Strain:
Strain: Proportional
– Proportionality: E (depends on material)
σx
σ x = Eε x , ε x =
E
• Poisson’s Ratio ν ε y = −νε x
– Body deforms in Y- and Z-
directions even if external force is
directions,
in X-direction.
– Poisson
Poisson’s s ratio is proportionality for εx σx
this lateral strain.
• depends
p on material σx
– Metal: 0.30 ε y = −νε x = −ν
– Rubber, Water: 0.50 (incompressible) E
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Constitutive Eqn’s:
q Stress-Strain ((2/3))
• Effect of normal stress components in 3 directions
（σx,σy,σz）
– accumulation of each strain component

σx σy σz 1
εx = −ν −ν = {σ x −ν (σ y + σ z )}
E E E E
σy σz σx 1
εy = −ν −ν = {σ y −ν (σ z + σ x )}
E E E E
σz σx σy 1
εz = −ν −ν = {σ z −ν (σ x + σ y )}
E E E E
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Constitutive Eqn’s:
q Stress-Strain ((3/3))
• Shear strain components do not depend on
normall stress
t components.
t They
Th are proportional
ti l
to shear stress τ.
– Lateral Elastic Modulus: G

τ xy τ yz τ zx
γ xy = , γ yz = , γ zx =
G G G
E
G=
2(1 + ν )
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Stress-Strain Relationship
p

⎧εx ⎫ ⎡1 −ν −ν 0 0 0 ⎤ ⎧σ x ⎫
⎪ε ⎪
⎪ y⎪
⎢ −ν
⎢ 1 −ν 0 0 0 ⎥⎥ ⎪⎪σ y ⎪⎪
⎪⎪ ε z ⎪⎪ 1 ⎢−ν −ν 1 0 0 0 ⎥ ⎪⎪σ z ⎪⎪
⎨ ⎬= ⎢ ⎥⎨ ⎬
⎪γ xy ⎪ E ⎢ 0 0 0 2(1 +ν ) 0 0 ⎥ ⎪τ xy ⎪
⎪γ yz ⎪ ⎢0 0 0 0 2(1 +ν ) 0 ⎥ ⎪τ yz ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪⎩γ zx ⎪⎭ ⎢⎣ 0 0 0 0 0 2(1 +ν )⎥⎦ ⎪⎩τ zx ⎪⎭
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Strain-Stress Relationship
p
⎡1 −ν ν ν 0 0 0 ⎤
⎧σ x ⎫ ⎢ ν 1 −ν ν 0 0 0 ⎥⎧ ε x ⎫
⎪σ ⎪ ⎢ ⎥⎪ ⎪
⎪ y⎪ ⎢ ν ν 1 −ν 0 0 0 ⎥⎪ ε y ⎪
⎪⎪σ z ⎪⎪ E ⎢ 1 ⎥ ⎪⎪ ε z ⎪⎪
⎨ ⎬= ⎢ 0 0 0 (1 − 2ν ) 0 0 ⎥⎨ ⎬
2
⎪τ xy ⎪ (1 +ν )(1 − 2ν ) ⎢ 1 ⎥ ⎪γ xy ⎪
⎪τ yz ⎪ ⎢ 0 0 0 0 (1 − 2ν ) 0 ⎥ ⎪γ ⎪
⎪ ⎪ ⎢ 2 ⎥ ⎪ yz ⎪
⎩⎪τ zx ⎪⎭ ⎢ 1
0 0 0 0 (1 − 2ν )⎥⎥ ⎪⎩γ zx ⎪⎭
⎢⎣ 0 2 ⎦

[D]
{σ } = [D ]{ε }
• Incompressible Material (ν~0.50): Special
Treatment Needed
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Some Assumptions
p in this Class
• Isotropic
p Material
– Uniform E, and ν (~0.30)
– CFRP ((Carbon Fiber Reinforced Plastics))
• Orthotropic
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Finite-Element Method
• Displacement-based
p FEM
– Dependent Variable: Displacement
• Generally used approach
– This class adopts this approach
• Stress-based FEM
– Dependent Variable: Stress
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1D Problem
• Extension of 1D truss
element
– only deforms in X-dir. F
– Uniform sectional area A
– Young’s Modulus E
– u=0@X=0,
0@X 0 External Force
F@X=L ∂σ x ∂u
+X =0 εx = σ x = Eε x
∂x ∂x

• Displacement-based
Displacement based FEM
∂ ⎛ ∂u ⎞
⎜E ⎟+ X = 0
∂x ⎝ ∂x ⎠