6/20/2017 1Introduction
Chapter1
Introduction
ThiscoursebuildsupontheconceptslearnedinthecourseMechanicsofMaterialsalsoknownasStrengthof
[Link]
straininadditiontorevisitingtheconceptofaforceanddisplacementthatonewouldhavemasteredina
firstcourseinmechanics,[Link]
equationsconnectingthesefourconcepts,namelystraindisplacementequation,constitutiveequation,
equilibriumequationandcompatibilityequation.Figure1.1pictoriallydepictstheconceptsthattheseequations
[Link],thestraindisplacementrelationallowsonetocomputethestraingivenadisplacementconstitutive
relationgivesthevalueofstressforaknownvalueofthestrainorviceversaequilibriumequation,crudely,
relatesthestressesdevelopedinthebodytotheforcesandmomentappliedonitandfinallycompatibility
equationplacesrestrictionsonhowthestrainscanvaryoverthebodysothatacontinuousdisplacementfield
couldbefoundfortheassumedstrainfield.
Figure1.1:Basicconceptsandequationsinmechanics
[Link]
ofmaterialscourse,onewasintroducedtothevariouscomponentsofthestressandstrain,namelythenormal
andshear,intheproblemsthatwassolvednotmorethanonecomponentofthestressorstrainoccurred
[Link]
[Link],inthiscourseweshallbegeneralizingtheseconceptsandequationsto
facilitatethreedimensionalanalysisofstructures.
Beforeventuringintothegeneralizationoftheseconceptsandequations,afewdrawbacksofthedefinitions
[Link]
[Link],insection1.1welookatthefourconceptsinmechanicsandin
[Link]
[Link],insection1.3welookintovarious
[Link],inthis
courseweshallbeonlyfocusingontheelasticresponseormoreprecisely,nondissipativeresponseofthe
[Link],insection1.4weoutlinethreewaysbywhichwecansolveproblemsinmechanics.
1.1BasicConceptsinMechanics
1.1.1Whatisforce?
[Link] 1/13
6/20/2017 1Introduction
[Link],it
canbeassociatedwiththetwitchingofthemuscle,feelingoftheburdenofmass,lineartranslationofthemotor,
[Link],astheconceptofforce
hasnowbeeningrained.
[Link],theposition1(xo)andvelocity(vo)of
thebodyisknownatsometime,t=to,thenoneisinterestedinknowingwherethisbodywouldbeatalater
time,t=[Link],iftheacceleration(a)ofthebodyatanylaterinstantintimeis
[Link]
(1.1)
thenfromTaylorsseries
(1.2)
whichwhenwrittenintermsofxo,voandareducesto2
(1.3)
Thus,ifthefunctionfaisknownthenthepositionofthebodyatanyotherinstantintimecanbedetermined.
Thisfunctionisnothingbutforceperunitmass3,asperNewtonssecondlawwhichgivesadefinitionforthe
[Link]
laterinstancecanbeobtainedfromknowingitscurrentpositionandvelocity.
Itispertinenttopointoutthatthisfunctionfacouldalsobeprescribedusingtheposition,xandvelocity,vof
thebodywhicharethemselvesfunctionoftime,[Link],fa=
g(x(t),v(t),t).However,facouldnotarbitrarilydependont,[Link]
[Link]
theseobjectivityrequirementsareandhowtoprescribefunctionsthatmeetthisrequirementsubsequentlyin
chapter6.
Next,[Link]?
Since,positionisavectorandaccelerationissecondtimederivativeofposition,[Link],it
followsfromequation(1.1)[Link],[Link]
experimentsalsoshowthatadditionofforcesfollowvectoradditionlaw(ortheparallelogramlawofaddition).
[Link]
distinguishesavectorfromascalarandhenceconfirmsthatforceisavector.
Asasummary,weshowedthatforceisamathematicalconstructwhichisusedtomathematicallydescribe
themotionofbodies.
1.1.2Whatisstress?
[Link] 2/13
6/20/2017 1Introduction
Asisevidentfromfigure1.1,[Link]
introductorycourseinmechanicsforstressare:
Stressistheforceactingperunitarea
Stressistheresistanceofferedbythebodytoaforceactingonit
Whilethefirstdefinitiontellshowtocomputethestressfromtheforce,thisdefinitionholdsonlyforsimple
[Link]
casesarepresentedjustasanexample.Case1:Acantileverbeamofrectangularcrosssectionwithauniform
pressure,p,appliedonthetopsurface,asshowninfigure1.2a.Accordingtothedefinition1thestressinthe
beamshouldbep,butitisnot.Case2:Anannularcylindersubjectedtoapressure,patitsinnersurface,as
[Link].
Also,thestressisnotp,[Link],the
[Link]
therearevariouscomponentsofthestressnorwhethertheareaoverwhichtheforceisconsideredtobe
[Link](orstressvector),t(n)
andstresstensor,.
(a)Acantileverbeamwithuniformpressureappliedonitstopsurface.
(b)Anannularcylindersubjectedtointernalpressure.
Figure1.2:Structuressubjectedtopressureloading
[Link]
[Link]
[Link],sinceforceisa
vectorquantitythistractionisalsoavectorquantity.Thecomponentofthetractionalongthenormaldirection4,
niscalledasthenormalstress((n)).Themagnitudeofthecomponentofthetraction5actingparalleltotheplane
iscalledastheshearstress((n)).
IftheforceisdistributedoverthedeformedareathenthecorrespondingtractioniscalledastheCauchy
traction(t(n))andiftheforceisdistributedovertheundeformedororiginalareathattractioniscalledasthePiola
traction(p(n)).Ifthedeformedareadoesnotchangesignificantlyfromtheoriginalarea,thenboththesetraction
wouldhavenearlythesamemagnitudeanddirection.Moredetailsaboutthesetractionispresentedinchapter4.
Thestresstensor,isalinearfunction(crudely,amatrix)thatrelatesthenormalvector,ntothetraction
[Link]
[Link],dependingonoverwhichareathe
forceisdistributed,[Link](ortrue)stresstensor,andthePiolaKirchhoff
[Link] 3/13
6/20/2017 1Introduction
stresstensor(P).Whilethesetwotensorsmaynearlybethesamewhenthedeformedareaisnotsignificantly
differentfromtheoriginalarea,[Link]
theabsenceofbodycouples,Cauchystresstensorhastobesymmetrictensor(crudely,symmetricmatrix)and
[Link]
[Link],therearemanyotherstressmeasuresobtainedfrom
theCauchystressandthegradientofthedisplacementwhichshallbestudiedinchapter4.
1.1.3Whatisdisplacement?
Thedifferencebetweenthepositionvectorsofamaterialparticleattwodifferentinstancesoftimeiscalledas
[Link],thedisplacementofthematerialparticlewoulddependontimetheinstancesbetween
[Link]
[Link],[Link]
[Link],tractionandstresstensorsareintroducedtoexplain(ormathematically
capture)thisdisplacement.
Thedisplacementfieldisatleastdifferentiabletwicetemporallysothataccelerationcouldbecomputed.
[Link],
thebasictenantofcontinuummechanicsisthatthedisplacementfieldiscontinuousspatiallyandispiecewise
[Link]
entirebodyitisrequiredtobetwicedifferentiablenotnecessarilyovertheentirebodybutonlyonsubsetsofthe
[Link],incontinuummechanicsinterpenetrationoftwosurfacesorseparationandformationofnew
[Link]
attempttousecontinuummechanicsconceptstounderstandtheprocessoffracture.
Abodyissaidtoundergorigidbodydisplacementifthedistancebetweenanytwoparticlesthatbelongsto
[Link]
[Link]
[Link],abodyissaidtobedeformableifitallowsrelativedisplacementofits
[Link],allrealbodiesaredeformable,attimesonecouldidealizea
givenbodyasrigidundertheactionofcertainforces.
1.1.4Whatisstrain?
[Link],stressesare
[Link],onerequiresameasure
(ormetric)[Link]
displacementisthestretchratio,(A),definedastheratioofthedeformedlengthtotheoriginallengthofa
materialfiberalongagivendirection,A.(NotethathereAisaunitvector.)However,thismeasurehasthe
drawbackthatwhenthebodyisnotdeformedthestretchratiois1(byvirtueofthedeformedlengthbeingsame
astheoriginallength)andhenceinconvenienttowritetheconstitutiverelationoftheform
(1.4)
where(A)[Link]
deformed,thefunctionfshouldbesuchthatf(1)=[Link](1)=
0andthatfbeaonetoonefunctionisthoughttobedifficultwhenfisanonlinearfunctionof(A).Consequently,
anothermeasureofrelativedisplacementissoughtwhichwouldbe0whenthebodyisnotdeformedandless
[Link],(A).There
[Link]
thestrain:
[Link] 4/13
6/20/2017 1Introduction
(1.5)
[Link],ifm=1in(1.5a)thentheresulting
strainiscalledastheengineeringstrain,ifm=1,itiscalledasthetruestrain,ifm=2itisCauchyGreen
[Link](A)=ln((A)),iscalledastheHenckystrainorthelogarithmicstrain.
Justlikethetractionandhencethenormalstresschangeswiththeorientationoftheplane,thestretchratio
alsochangeswiththeorientationalongwhichitismeasured.Weshallseeinchapter3thatatensorcalledthe
CauchyGreendeformationtensorcarriesalltheinformationrequiredtocomputethestretchratioalongany
[Link]
inanyplane.
1.2BasicEquationsinMechanics
Havinggainedasuperficialunderstandingofthefourconceptsinmechanicsnamelytheforce,stress,
displacementandstrain,letuslookatthefourequationsthatconnecttheseconceptsandthereasoningusedto
obtainthem.
1.2.1Equilibriumequations
EquilibriumequationsareNewtonssecondlawwhichstatesthattherateofchangeoflinearmomentumwould
[Link]
forces,namely,[Link]
[Link]
[Link]
[Link],[Link]
gravitationalforce,[Link]
andhencearegenerallyexpressedasperunitmassofthebodyanddenotedbyb.
OnfurtherassumingthattheNewtonssecondlawholdsforanysubpartofthebodyandthatthestressfield
iscontinuouslydifferentiablewithinthebodytheequilibriumequationscanbewrittenas:
(1.6)
whereisthedensity,[Link]
[Link]()canbefoundinchapter2.
Also,therateofchangeofangularmomentummustbeequaltothenetappliedmomentonthebody.
Assumingthatthemomentisgeneratedonlybythecontactforcesandbodyforces,thisconditionrequiresthat
[Link],=t,wherethesuperscript
()[Link](1.6)should
hold.Seechapter5fordetailedderivation.
1.2.2StrainDisplacementrelation
Therelationshipthatconnectsthedisplacementfieldwiththestrainiscalledasthestraindisplacement
[Link]
[Link],allthesestrainsaresomefunctionofthegradientofthedeformationfield,Fcommonly
[Link]
materialparticlethatbelongstothebodyatanyinstanceintimewiththematerialparticleidentifiedbyits
[Link],inchapter3weshowthat,thestretchratioalongagivendirectionAis,
[Link] 5/13
6/20/2017 1Introduction
(1.7)
whereC=FtF,[Link],F=1and
hence,C=1and(A)=[Link],onecandeveloptheexpressionforthe
stretchratio,[Link],thedisplacementfieldcanbeafunctionofthe
coordinatesofthematerialparticlesinthereferenceorundeformedstateorthecoordinatesinthecurrentor
[Link]
configurationitiscalledasLagrangianrepresentationofthedisplacementfieldandthegradientofthis
[Link]
otherhandifthedisplacementisafunctionofthecoordinatesofthematerialparticleinthedeformedstate,such
arepresentationofthedisplacementfieldissaidtobeEulerianandthegradientofthisEuleriandisplacement
[Link](seechapter
3),
(1.8)
where,1standsforidentitytensor(seechapter2foritsdefinition).Now,therightCauchyGreendeformation
tensorcanbewrittenintermsoftheLagrangiandisplacementgradientas,
(1.9)
NotethattheifthebodyisundeformedthenH=[Link],ifonecannotseethedisplacementofthebodythen
itislikelythatthecomponentsoftheLagrangiandisplacementgradientaregoingtobesmall,sayoforder103.
Then,[Link],theequation(1.9)forthiscase
whenthecomponentsoftheLagrangiandisplacementgradientissmallcanbeapproximatelycalculatedas,
(1.10)
where
(1.11)
iscalledasthelinearizedLagrangianstrain.Weshallseeinchapter3thatwhenthecomponentsofthe
Lagrangiandisplacementgradientissmall,thestretchratio(1.7)reducesto
(1.12)
ThuswefindthatLcontainsinformationaboutchangesinlengthalonganygivendirection,Awhenthe
[Link],itiscalledasthelinearizedLagrangian
strain.Weshallinchapter3derivethevariousstraintensorscorrespondingtothevariousdefinitionofstrains
giveninequation(1.5).
Further,sinceFF1=1,itfollowsfrom(1.8)that
(1.13)
whichwhenthecomponentsofboththeLagrangianandEuleriandisplacementgradientaresmallcanbe
approximatedasH=[Link],whenthecomponentsoftheLagrangianandEuleriandisplacementgradientsare
[Link],theEulerianlinearizedstraindefinedas,
(1.14)
[Link] 6/13
6/20/2017 1Introduction
andtheLagrangianlinearizedstrain,Lwouldbethesamewhenthecomponentsofthedisplacementgradients
aresmall.
Equation(1.14)isthestraindisplacementrelationshipthatwewouldusetosolveboundaryvalueproblems
inthiscourse,aswelimitourselvestocaseswherethecomponentsoftheLagrangianandEuleriandisplacement
gradientissmall.
1.2.3Compatibilityequation
ItisevidentfromthedefinitionofthelinearizedLagrangianstrain,(1.11)[Link],it
[Link],onecannotprescribearbitrarilythesesixcomponentssinceasmooth
[Link]
placedonhowthissixcomponentsofthestraincouldvaryspatiallysothatasmoothdifferentiabledisplacement
[Link],thecompatibilityconditionis
(1.15)
Thederivationofthisequationaswellasthecomponentsofthecurl()operatorinCartesiancoordinatesis
presentedinchapter3.
Itshouldalsobementionedthatthecompatibilityconditionincaseoflargedeformationsisyettobe
[Link],Cisprescribed,the
restrictionsthathavetobeplacedontheseprescribedcomponentssothatasmoothdifferentiabledeformation
fieldcouldbeobtainedisunknown,exceptforsomespecialcases.
1.2.4Constitutiverelation
Broadlyconstitutiverelationistheequationthatrelatesthestress(andstressrates)withthedisplacement
gradient(andrateofdisplacementgradient).WhiletheabovethreeequationsEquilibriumequations,strain
displacementrelation,compatibilityequationsareindependentofthematerialthatthebodyismadeupof
and/ortheprocessthatthebodyissubjectedto,theconstitutiverelationisdependentonthematerialandthe
[Link]
andtohaveasmanyequationsasthereareunknowns,aswillbeshowninchapter6.
Thefidelityofthepredictions,namelythelikelydisplacementorstressforagivenforcedependsonlyonthe
[Link]
[Link],alotofresearchisbeingundertakentoarriveatbetterconstitutive
relationsformaterials.
Itisdifficulttohaveaconstitutiverelationthatcoulddescribetheresponseofamaterialsubjectedtoany
[Link],usuallyconstitutiverelationsareprescribedforaparticularprocessthatthematerialundergoes.
[Link]
undergodifferentprocessesdependingonthestimuliforexample,thesamematerialcouldrespondelastically
orplasticallydependingonsay,[Link]
[Link],[Link]
shalldesist.
Traditionally,theconstitutiverelationissaidtodependonwhetherthegivenmaterialbehaveslikeasolidor
[Link]
[Link] 7/13
6/20/2017 1Introduction
[Link]
below:
Solidisonewhichcanresistsustainedshearforceswithoutcontinuouslydeforming
Solidisonewhichdoesnottaketheshapeofthecontainer
[Link],
[Link],thesame
materialwouldbehavelikeasolid,likeamixtureofasolidandafluidorlikeafluiddependingonsay,the
[Link]
[Link],asweshallsee,thisclassificationofagivenmaterialas
[Link],the
responseofmaterialscouldbeclassifiedbasedon(1)Whetherthereisconversionofenergyfromoneformto
anotherduringtheprocess,and(2)[Link],inthe
followingsection,weclassifytheresponseofmaterialsbasedonthermodynamics,wealsogivethecommonly
[Link],aswellasinalltheseclassifications,itis
assumedthattherearenochemicalchangesoccurringinthebodyandhencethecompositionofthebody
remainsaconstant.
1.3ClassificationoftheResponseofMaterials
First,itshouldbeclarifiedthatoneshouldnotgetconfusedwiththerealbodyanditsmathematicalidealization.
[Link],theearth
[Link]
[Link]
[Link],theallmaterialresponses,some
[Link],insomecases,thislossinthe
mechanicalenergyissmallthatitcanbeidealizedashavingnoloss,i.e.,anondissipativeprocess.
1.3.1Nondissipativeresponse
Aresponseissaidtobenondissipativeifthereisnoconversionofmechanicalenergytootherformsofenergy,
[Link],[Link]
definitionsofelasticresponse,
Ifthebodysoriginalsizeandshapecanberecoveredonunloading,theloadingprocessissaidtobe
elastic.
Processesinwhichthestateofstressdependsonlyonthecurrentstrain,issaidtobeelastic.
Thefirstdefinitionisoflittleuse,becauseitrequiresonetodoacomplimentaryprocess(unloading)todecide
[Link],thoughusefulfor
decidingonthevariablesintheconstitutiverelation,italsorequiresonetodoacomplimentaryprocess(unload
andloadagain)[Link]
notsufferfromthisdrawback.Inchapter6weprovideexampleswherethesethreedefinitionsarenot
[Link],manyprocesses(approximately)satisfyallthethreedefinitions.
[Link],ifthebodyis
isolatedatanyinstantofloading(ordisplacement)thenthestress,displacement,internalenergy,entropydonot
changewithtime.
Idealgas,[Link]
certainstresslevel,calledtheyieldstress,[Link],the
notionthatonlysolidsrespondinanondissipativemannerisnotcorrect.
[Link] 8/13
6/20/2017 1Introduction
Thus,forthesenondissipative,thermodynamicallyequilibratedprocessestheCauchystressandthe
[Link],forisotropicmaterials(see
chapter6forwhenamaterialissaidtobeisotropic),f(,F)=[Link],inclassicalelasticityitiscustomary
toassumethatCauchystressinaisotropicmaterialisafunctionofthedeformationgradient,= (F).On
requiringtherestriction6duetoobjectivityandsecondlawofthermodynamicstohold,itcanbeshownthatif
= (F),then
(1.16)
whereR= R(J1,J2,J3)istheHelmoltzfreeenergydefinedperunitvolumeinthereferenceconfiguration,also
calledasthestoredenergy,B=FFtandJ1=tr(B),J2=tr(B1),J3= .Whenthecomponentsofthe
displacementgradientissmall,then(1.16)reducesto,
(1.17)
onneglectingthehigherpowersoftheLagrangiandisplacementgradientandwhereandarecalledasthe
[Link](1.17)[Link]
lawistheconstitutiveequationthatweshallbeusingtosolveboundaryvalueproblems.
Beforeconcludingthissection,[Link](1.16)
therelationshipbetweenCauchystressandthedisplacementgradientcanbenonlinearwhentheresponseis
[Link]
isalsotruethatiftheresponseisdissipative,therelationshipbetweenthestressandthedisplacementgradientis
[Link],nonlinearrelationshipbetweenthestressandthedisplacementgradientdoesnot
[Link],nonlinearrelationshipbetweenthestressandthedisplacement
gradientisonlyanecessaryconditionfortheresponsetobedissipativebutnotasufficientcondition.
1.3.2Dissipativeresponse
Aresponseissaidtobedissipativeifthereisconversionofmechanicalenergytootherformsofenergy.A
[Link],
whichweshallseeinsomedetail.
Plasticresponse
Amaterialissaidtodeformplasticallyifthedeformationprocessproceedsthroughthermodynamically
[Link],ifthebodyisisolatedatanyinstantofloading(ordisplacement)
thenthestress,displacement,internalenergy,[Link]
dissipative,[Link],thestressdoesnot
dependontherateofloadingordisplacementbyvirtueoftheprocessproceedingthroughthermodynamically
equilibratedstates.
Forplasticresponse,theclassicalconstitutiverelationisassumedtobeoftheform,
(1.18)
whereFp,q1,q2areinternalvariableswhosevaluescouldchangewithdeformationand/[Link]
illustration,wehaveusedtwoscalarinternalvariablesandonesecondordertensorinternalvariablewhilethere
[Link]
[Link] 9/13
6/20/2017 1Introduction
physicalinterpretationbutingeneral,thesevariableneednothaveanymeaningandareproposedfor
mathematicalmodelingpurposeonly.
Thus,whenamaterialdeformsplastically,itdoesnotreturnbacktoitsoriginalshapewhenunloadedthere
[Link],[Link]
ofloading(ordisplacement).Metalslikesteelatroomtemperaturerespondplasticallywhenstressedabovea
particularlimit,calledtheyieldstress.
Viscoelasticresponse
Ifthedissipativeprocessproceedsthroughstatesthatarenotinthermodynamicequilibrium7,thenitissaidto
[Link],ifabodyisisolatedatsomeinstantofloading(ordisplacement)thenthe
displacement(orthestress)[Link]
[Link],whenaviscoelastic
materialissubjectedtoaconstantdeformationfield,itsstresschangeswithtimeandthisiscalledasstress
[Link]
haveaconstantstrain.
Theconstitutiverelationforaviscoelasticresponseisoftheform,
(1.19)
where denotesthetimederivativeofstressand [Link]
wehavetruncatedtofirstordertimederivatives,thegeneraltheoryallowsforhigherordertimederivativestoo.
Thus,theresponseofaviscoelasticmaterialdependsontherateatwhichitisloaded(ordisplaced)apart
fromthehistoryoftheloading(ordisplacement).Theresponseofaviscoelasticmaterialchangesdependingon
[Link]
[Link]
alongtime(asymptotically)wouldtendtozeroorremainthesameconstantvaluethatitisimmediatelyafterthe
removalofload.
Constitutiverelationsoftheform,
(1.20)
whichisaspecialcaseoftheviscoelasticconstitutiverelation(1.19),isthatofaviscousfluid.
Insometreatmentsofthesubject,aviscoelasticmaterialwouldbesaidtobeacombinationofaviscous
[Link]
severalphilosophicalproblemsassociatedwiththisviewpointaboutwhichwecannotelaboratehere.
Viscoplasticresponse
[Link],
inordertomodelthisclassofresponsetheconstitutiverelationhastobeoftheform,
(1.21)
whereFp,q1,q2aretheinternalvariableswhosevaluescouldchangewithdeformationand/[Link]
[Link]
fortheviscoplasticresponse(1.21)encompassesviscoelastic,plasticandelasticresponseasaspecialcase.
[Link] 10/13
6/20/2017 1Introduction
Inthiscase,[Link],aconstantdeformationcauses
[Link].
[Link]
thisunrecovereddeformationvarieswithrateofloading,[Link]
dependanceoftheconstantvaluethattheunrecovereddeformationtendsontherateofloading,couldbetaken
asthecharacteristicofviscoplasticresponse.
Figure1.3showsthetypicalvariationinthestrainforvariousresponseswhenthematerialisloaded,heldat
aconstantloadandunloaded,[Link]
loading,helpsonetodistinguishvariouskindsofresponses.
Figure1.3:Schematicofthevariationinthestrainwithtimeforvariousresponseswhenthematerial
isloadedandunloaded.
Asmentionedalready,inthiscourseweshallfocusontheelasticornondissipativeresponseonly.
1.4SolutiontoBoundaryValueProblems
Aboundaryvalueproblemisoneinwhichwespecifythetractionappliedonthesurfaceofabodyand/or
displacementoftheboundaryofabodyandareinterestedinfindingthedisplacementand/orthestressatany
[Link]
boundarytractionand/[Link]
[Link],inaboundary
valueproblemoneneedstoprescribethegeometryofthebody,theconstitutiverelationforthematerialthatthe
[Link]
[Link]
displacementandstressfieldshouldsatisfytheequilibriumequations,constitutiverelations,compatibility
conditionsandboundaryconditions.
Thepurposeofformulatingandsolvingaboundaryvalueproblemisto:
Toensurethestressesarewithinprescribedlimits
[Link] 11/13
6/20/2017 1Introduction
Toensurethatthedisplacementsarewithinprescribedlimits
Tofindthedistributionofforcesandmomentsonpartoftheboundarywheredisplacementsarespecified
[Link]
Displacementboundarycondition:Herethedisplacementoftheentireboundaryofthebodyaloneis
[Link]
Tractionboundarycondition:Herethetractionontheentireboundaryofthebodyaloneisspecified.
ThisisalsocalledasNeumannboundarycondition
Mixedboundarycondition:Herethedisplacementisspecifiedonpartoftheboundaryandtractionis
[Link]
overanypartofboundary
Robinboundarycondition:Hereboththedisplacementandthetractionarespecifiedonthesamepartof
theboundary.
Therearethreemethodsbywhichthedisplacementandstressfieldinthebodycanbefound,satisfyingall
[Link]
choiceofamethoddependsonthetypeofboundarycondition.
1.4.1Displacementmethod
[Link],usingthestraindisplacementrelation,(1.14)the
[Link],(1.17)[Link]
thensubstitutedintheequilibriumequation(1.6)toobtain3secondorderpartialdifferentialequationsinterms
ofthecomponentsofthedisplacementfieldas,
(1.22)
where()[Link]
[Link](1.22)[Link],inthedisplacementmethodequation
(1.22)issolvedalongwiththeprescribedboundarycondition.
Ifthreedimensionalsolidelementsareusedformodelingthebodyinfiniteelementprograms,thenthe
weakenedformofequation(1.22)issolvedforthespecifiedboundaryconditions.
1.4.2Stressmethod
Inthismethod,thestressfieldisassumedsuchthatitsatisfiestheequilibriumequationsaswellasthe
[Link],intheabsenceofbodyforcesandstaticequilibrium,it
canbeeasilyseenthatiftheCartesiancomponentsofthestressarederivedfromapotential,= (x,y,z)called
astheAirysstresspotentialas,
(1.23)
[Link],thestrainiscomputedusing
(1.24)
[Link] 12/13
6/20/2017 1Introduction
obtainedbyinvertingtheconstitutiverelation,(1.17).Inordertobeabletofindasmoothdisplacementfield
fromthisstrain,ithastosatisfycompatibilitycondition(1.15).Thisprocedureisformulatedinchapter7andis
followedtosolvesomeboundaryvalueproblemsinchapters8and9.
1.4.3Semiinversemethod
ThismethodisusedtosolveproblemswhentheconstitutiverelationisnotgivenbyHookeslaw(1.17).When
theconstitutiverelationisnotgivenbyHookeslaw,displacementmethodresultsinthreecouplednonlinear
[Link],simplifying
assumptionsaremadeforthedisplacementfield,whereinathedisplacementfieldisprescribedbutforsome
constantsand/[Link](1.16),onehasto
makeanassumptiononthecomponentsofthestresswhichwouldbenonzeroforthisprescribeddisplacement
[Link],thesenonzerocomponentsofthestressfieldisfoundintermsoftheconstantsandunknown
[Link]
boundaryconditions,oneobtainsdifferentialequationsfortheunknownfunctionsandalgebraicequationsto
[Link]
[Link]
[Link]
inthiscourse.
Finally,wesaythattheboundaryvalueproblemiswellposedif(1)Thereexistadisplacementandstress
fieldthatsatisfiestheboundaryconditionsandthegoverningequations(2)Thereexistonlyonesuch
displacementandstressfield(3)Smallchangesintheboundaryconditionscausesonlysmallchangesinthe
[Link](1.17)isusedforthe
constitutiverelationisknowntobewellposed,aswillbediscussedinchapter7.
1.5Summary
Thusinthischapterweintroducedthefourconceptsinmechanics,thefourequationsconnectingtheseconcepts
[Link]
[Link],onewouldunderstandallthedetails.
However,readingthesamechapterattheendofthiscourse,[Link]
summarizestheconceptsthatshouldbeassimilatedanddigestedduringthiscourse.
[Link] 13/13