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Prof. Suvranu De
Introduction to 3D
Elasticity
Reading assignment:
Summary:
3D elasticity problem
Governing differential equation + boundary conditions
Strain-displacement relationship
Stress-strain relationship
Special cases
2D (plane stress, plane strain)
Axisymmetric body with axisymmetric loading
Principle of minimum potential energy
1D Elasticity (axially loaded bar)
y A(x) = cross section at x
b(x) = body force distribution
F (force per unit length)
x E(x) = Youngs modulus
x u(x) = displacement of the bar
x=0 x=L at x
Volume
Xc dV
element dV Body force: distributed
Xb dV force per unit volume (e.g.,
Xa dV weight, inertia, etc)
w
Volume (V) X a
v
u X X b
Surface (S) X
z
x c
NOTE: If the body is accelerating, u
then the inertia force u
v
y w
x
may be considered as part of X
~
X X u
SURFACE TRACTION
Volume pz
Xc dV Traction: Distributed
element dV
Xb dV p py force per unit surface
x area
Xa dV
w
Volume (V)
v ST
u p x
z
x T S p y
p
z
y
x
3D Elasticity:
INTERNAL FORCES
Volume z
element dV
zy
zx yz
w xz y
Volume (V) xy
v yx
u
z x
x
y
x 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.
3D Elasticity
z
x, y and z are normal stresses.
zy
zx yz The rest 6 are the shear stresses
xz y Convention
xy xy is the stress on the face
z
yx perpendicular to the x-axis and points
x in the +ve y direction
Total of 9 stress components of which
y xy yx
x only 6 are independent since
x yz zy
zx xz
The stress vector is therefore y
z
xy
yz
zx
x
Strains: 6 independent strain components y
z
xy
yz
zx
where
x 0 0
0 0
y
0 0
z
0
y x
0
z y
0
z x
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
Volume pz
Xc dV
element dV
Xb dV p py
x
Xa dV
w
Volume (V)
v ST
u
z
x
Su
y
x
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.
Equilibrium equations
T
X 0 in V (1)
Boundary conditions
y
x
TS
nz pz Traction: Distributed
force per unit area
n
py p x
ny
T S p y
nx px p
ST z
n x
If the unit outward normal to ST : n n y
n
z
Then p x x nx xy n y xz nz
p y xy nx y n y yz nz
p z xz nx zy n y z nz
py TS
In 2D n xy
ny
dy ds nx x dy ds px
xy dx
dx
y ST
y
x Consider the equilibrium of the wedge
in x-direction
dx p x ds x dy xy dx
sin ny
ds dy dx
dy px x xy
cos nx ds ds
ds p x x n x xy n y
Similarly
p y xy n x y n y
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
2. Strain-displacement relationships:
u
x
x
v
y
y
w
z
z
u v
xy
y x
v w
yz
z y
u w
zx
z x
Compactly; u (2)
x 0 0
x 0 0
y
y u
z 0 0
z u v
xy
0
w
yz y x
zx
0
z y
0
z x
u
dy
y
C
In 2D v y
v dy
y
C 2
B
u A v
dy 1 dx
x
v
A dx B
x
u u
u dx
dx u dx u dx x
A' B' AB x u
x
AB dx x
v
dy
v dy
v dy
A' C' AC y v
y
AC dy y
xy angle (C' A' B' ) 1 2 tan 1 tan 2
2
v u
x x
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:
1 0 0 0
1 0 0 0
1 0 0 0
E 1 2
D 0 0 0
2
0 0
(1 )(1 2 )
1 2
0 0 0 0 0
2
1 2
0 0 0 0 0
2
Special cases:
xy y
xy
x
x
1 0 x
y
E
1 0 y z x y
1 2
1 1
xy 0 0 xy
2
Assumptions:
y 1. Displacement components u,v functions
of (x,y) only and w=0
2. Top and bottom surfaces are fixed
x 3. Xc=0
4. px and py do not vary with z
z
PLANE STRAIN Examples:
1. Dam Slice of unit
thickness
1
xy y
y xy
x
z
x
z
2. Long cylindrical pressure vessel subjected to internal/external
pressure and constrained at the ends
PLANE STRAIN
Nonzero stress: x , y , z , xy
Nonzero strain components: x , y , xy
Isotropic linear elastic stress-strain law D
x
1 0 x
E
z x y
y 1 0 y
1 1 2 0 1 2
xy 0 xy
2
2 1
and is subjected to the following
strains
2
x 2 xy
3 4
x y 3xy 2
xy x 2 y 3
Arbitrary function of y
Plug expressions in (4) and (5) into equation (3)
u v
x 2 y 3 (3)
y x
x 2 y C1 ( y ) xy 3 C2 ( x)
x2 y3
y x
C1 ( y ) C2 ( x)
x
2
y 3
x2 y3
y x
C ( y ) C2 ( x)
1 0
y x
Function of y Function of x
Hence
C1 ( y ) C2 ( x)
C (a constant)
y x
Integrate to obtain
C1 ( y ) Cy D1 D1 and D2 are two constants of
C2 ( x) Cx D2 integration
v(2,0) 0 2 1
To obtain 2
C 0 3 4
x
D1 0
D2 0
Hence the solution is
u ( x, y ) x 2 y
v( x, y ) xy 3
Principle of Minimum Potential Energy
U-W
Volume pz
Xc dV
element dV
Xb dV p py
x
Xa dV
w
Volume (V)
v ST
u
z
x
Su
1
U dV
T
y 2 V
x
W u X dV u T S dS
T T
V ST
Strain energy of the elastic body
2 V 2 V
In 1D
1 1 1 L
U dV E dV E 2 Adx
2
2 V 2 V 2 x 0
In 2D plane stress and plane strain
U x x y y xy xy dV
1
2 V
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.