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ASMEpaper Doublecurvaturebendingelastica
ASMEpaper Doublecurvaturebendingelastica
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M, = (1-fl)Mo M 8 = tiM° where
#Z #Z x
X-=~,
y
ff---~,
s
~----~, and ~=
MoL
E1
dx-
+(o(tan0cos0+sin0+V)
IL
-9
M. 14. I or - 0 c 0 _< Oz I
M(s) = (1 - f l ) M o - ~ y tan OB - - - ' x . (2)
L L
x-= - - ~ 1 foA W¢o ~ /l~ [ F ( ~ , k ) - F(G,k)] (11)
In view of Eqs. (1) with some algebraic manipulations, Eq. (2)
may be written as
1 t'~ cos 0
d20 Mo
E1 [tan 0. sin 0 + cos 0]. (3)
ds 2 L
sin T
= - ~ { 2 [ E ( , , b , k ) - E('C'a, k ) ] (12)
Then the governing equation, the boundary conditions, and
the inflection condition written in a nondimensional form are
as follows: - [ F ( ~ , k) - F(~A, k)] }
2k cos r
d20 ~ {cos ~ - cos ~A}
= M[tan 0B sin 0 + cos 0] (4)
-
1 P~ sin 0
c~s0 0:0. = - ( 1 - fl)~;
Y= J0A- -d0
dO = 0 (5a,b,c) -- ~ { 2 [ E ( d I ), k) - E((I)A, k)]
dO = -/3a,I; -d~ o=Oc ~/J.,a7 (13)
-'~ O~OB
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For-0c-< 0-<0~ I 1 po cos0
- -- --dO
1 fo dO
S=Sc+-~ -oct
V ? ~- -- ' [ E ( ~ , k ) - E ( 6 9 A , k ) ]
1
- ~[2F(~c,k)- F(~a,k)- F(~,k)] (14)
1 po cos 0
x =Xc+ 2~J--o,:-~ -dO
19)
- [2FUbc, k) - F(e)A, k) - F(69, k)] }
2k cos r
{2 cos ~c - cos ~A -- COS 'bl
y=-~folsinOdo
/~2 + ,, cos ~ r
(15) ~// 2/14 u 1 [E(69, k) - E(69a, k)]
Y=Yc+ ~9~
, ; °odO
s Oc 4 ~
]
COS T
{ 212E(69c, k) - E('I'A, k) - E(69, k)]
(
+~/ 2M s i ~ r { 4 1 _ k 2sin 269 41 k 2sin 2
- [2F(69c, k) - F(69a, k) - F(69, k)] } ]
+
2k sin 7-
4u/9i { 2 c o s ~ c - COS69A-- COS~} J IFor-0c -< 0-~ 0~ J
(20)
(16)
where F ( ~ , k) and E(69, k) are the adjustable elliptic integrals
× [2F(69c, k) - F(69A, k) - F(ff), k)] (21)
of the first and second kind, respectively (Byrd and Friedman,
197l) and define as 1 p0 cos 0
x = Xc + - ~ _ | ---r-dO
F(69, k) = sgn (0) × the Jacobi's standard elliptic integral q2Md-oc ~/~
where
1 ifcos(r + 0)-< 0
sgn(0) = -1 i l ' c o s ( r + 0) > 0 (17c)
_ / # 2 + b, c o s 7-
~/ 2a4 u { 241 - k 2 sin 2 69c
1 fl dO
+ ~ 2~ u { 2 4 1 - k 2sin 269c
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Table 1 Comparison of results for K,/= 3
EIM SOM EIM SOM EIM SOM EIM SOM EIM SOM EIM SOM EIM SOM EIM SOM
0.2 0.809178 0.809178 1.676451 1.676451 -0.308262 -0.308261 -0.774967 -0.77496~ -0,25009~ -0.25009~ -0.730252 -0,730253 1.057947 1.057947 1.389155 1.389157
0.3 0.582261 0.582261 1,935173 1.935176 -0.195065 -0.195065 -0.85214C -0.852141 i-0.05989~ -0.059895 -0.753528 -0.753528 1,024429 1.024429 1.571777 1.571778
0.4 0.404192 0.404192 2.200021 2.200024 -0.139999 -0.139999 -0.895187 -0.89518~ 0.101105 0.101105 -0.712570 -0.712570 1.010185 1.010185 1.795838 1.795839
0.5 0.248962 0.248962 2.563713 2.563716 -0.122994 -0.122994 -0.897397 -0.89739~ 0.248962 0.248962 -0.577880 -0.577879 1.006148 1.006148 2.131044 2,131044
0.6 0.107839 0.107839 3.211004 3.211009 -0.134068 -0.134068 -0.781243 -0.781241 0.3891081 0.389108 -0.227209 -0.227208 1.009265 1.009265 2.683418 2,683420
0.7 -0.022824 -0.022823 4.034156 4.034159 -0,166414 -0.166414 -0,50765C -0.50764~ 0.523583 0.523583 0.277445 0,277446 1.018010 1.018010 3,133527 3.133527
0.8 -0.144274 -0.144274 4.584228 4.584237 -0,215100 -0.215099 -0.27135~ -0.27135~ 0,652506 0.652506 0.622864 0.622866 1.031259 1.031259 3,205925 3.205925
0.9 -0,256301 -0.256301 4,910267 4.910275 -0.277533 -0,277532 -0,104691 -0.10468~ 0.774510 0.774510 0.840437 0,840439 1.047787 1.047788 3.126340 3.126340
1.0 -0.357892 -0,357891 5.102634 5.102641 -0.357892 -0.357891 0.011884 0.011888 0.887168 0,887168 0.986463 0.986465 1.066052 1.060052 3.004975 3.004975
SOM = Shooting-optimization m e ~ o d
Arc-length between
Rotation at end A Rotation at inflection point C Rotation at end B
end A and end B
Oa (rad.) 0 c (rad.) 08 (rad.) s~/ L
Scalin~
para-
meter
Stable Unstable Stable Unstable Stable Unstable Stable Unstable
EIM SOM EIM SOM EIM SOM EIM SOM EIM SOM ElM SOM EIM SOM EIM SOM
0.3 0.825429 0,825429 1.838025 1,838032 -0.275928 -0,275928 -0.710531 -0.710532 -0.095780 -0.095780 -0.557152 -0.55715,1 1.050532 1.050532 L406683 1.406685
0.4 0.543462 0.543461 2.271076 2.271081 -0.186644 -0.186644 -0.797177 -0.797177 0.135969 0,135969-0.514942-0.5149433 1.018374 1.018374 1.683169 1,683171
0.5 0.330743 0.330743 2.845593 2.845597 -0.161837 -0.161837 -0.794667 -0.79466~ 0.330743 0.330743 -0.296000 -0.29599~ 1.010778 1.010777 2.090479 2.090480
0.6 0.150575 0.150575 3,715098 3,715102 -0,172847 -0.172847 -0.621146 -0.621145 0.507668 0.507669 0.168135 0.168136 1.015525 1,015525 2.590702 2.590704
0.7 -0.006984 -0.006984 4.454271 4.454278 -0.205004 -0.205003 -0.382895 -0.382893 0.670480 0.670480 0.578994 0,578995 I 1.028092 1.028092 2.779393 2.779394
I !
0.8 -0.144723 -0.144723 4.913399:4.913407 -0.248341 -0.248340 -0,200994 -0.200991 0.817771 0.817771 0.834135 0.834136 ~ 1.045181 1.045182 2.748219 2.748219
0.9 -0.263226 -0.263226 5.187674 5.187683 -0.297909 -0.297908 -0.070484 -0.070479 0.946332 0.946333 0.998837 0.998839 1.063600 1.063600 2.650107 2.650107
i i
1.0 -0.363395 -0.363394 5.342972 i 5.342977 -0,363395 -0.363391 0,021717 0.021721! 1.053967 1.053968 1.111548 1.111550 1,080591 1.080593 2.538994 2.538995
J
EIM = Elliptic integrals method
(hi=sin 1./u[1-sinO-+Oi)] ( i = A , B , andC) (24a) ,/~ = 2 sin (0~ - Oc) - f12~ cos 0n = 0 (26)
2
V
[ 2u f3 = - fo °' Sin
x/~O do + f ~ sin~ O dO = 0. (27)
k = ~;-~ u (24b) oc qf~
In view of the foregoing elliptic integral formulation, there Equation (27) can be expressed in terms of elliptic integrals as
are four independent variables (OA, 0n, 0c, ~r). In practical
problems, quite often the moment M is assigned and the dis-
placements OA, Ot~, and Oc are to be determined. However, if = - "cos ~r{ 212EU!~c, k) - E(~A, k) - E(d~n, k)]
the given value o f / ~ is greater than the critical or maximum
value M,~ (see definition below), there is no solution possible.
- [ 2 F ( ' b c , k) - F ( ~ A , k) - F(~b~, k)] }
Therefore, instead of assigning M, the value of 0n has been
assigned and the unknowns to be solved are OA, OC, and M.
Three independent equations are required for solution, for in- + ./2,2k sin ~-{ 2 cos (be - cos (ha - cos ~n },
stance Eqs. (6d), (8), and (9) with the assistance of either Eq.
(16) or (23). The system of nonlinear equations is written as
follows: if#2--< u (28a)
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7.00 - I
O 0'ad. )
-2.00 -1.50 -1.00 -0.50 0.00 0.50 1.00 1.50 2.00
or
• 0,f,
/~:l cTxTx,Ax~ = - f . (31)
cos 7- [2E(4)c, k) E (cl~A, k)
/./ Step 4 Check if I AxT~l I ~ c, if not, repeat Steps 2 - 4 until
the specified tolerance set is achieved.
Step 5 Once 0a, Oc, and M are determined and the deflection
-E(q}n,k)]-(tz~+u)[2F(dPc.,k) y at any distance x can be obtained fi'om either Eqs.
(12), (13), (15), (16) or Eqs. (19), (20), (22), (23).
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t = 1.0
= 0.9
-0.05 --
~L
o.oo , i i / ~ -
0.150'--0)0050'~10
)0
= O.
001
~1
0.90 1.00 x~
o.2o~ ~ "/~=0.3
y_ "p = 0.2
L
Fig. 4 Stable equilibrium configurations for/~/= 3
x
m
y
L
Fig. 5 Unstable equilibrium configurations f o r / V / = 3
s*=[ been assigned and thus the unknowns to be solved are (~-, y,
M, and Y~). The solution steps are as follows:
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fl=l.O
// fl=0.9
/ / p:o.8
/ / / p=0.7
-0.28 - -
-0.15 --
-O.IO - -
-0,05 --
X
D --
L
o,o-1 \
O.lSq ~ \,8=0.4
0a0 ~ \ / ~ = 0.3
y
L
Fig. 6 Stable equilibrium configurations for/~/ = 4
-I.OO-~ 3# = 4
/
-0.80 q
fi= 1.0
/ fl=0.9
/ /p=os
fi=0.7
fl=0.6/ ~ f l W0.3
=.
p 04
y
L
Fig. 7 Unstable equilibrium configurations for/~/= 4
Step 1 Set the initial step size of integration and the initial Step 6 Add an incremental zX0u to 0" and repeat Steps 3 - 5
values of s * ( 1 ) = 1, x ( 1 ) = 1, y ( 1 ) = 0 , a n d 0 ( l ) = to construct the curves of M versus 0A and 0,.
On.
Step 2 Given 0B, one guesses/~t and ~j at the first iteration
from the linear small displacement theory. 5 Results and Discussion
Step 3 Integrate Eqs. (32a), (33a) and (34a) from s* = 1 It has been found that there are two equilibrium configura-
to 0 using the fifth-order Cash-Karp Runge-Kutta with tions under the applied moments. One equilibrium state is stable
adaptive step size control following Fehlberg method while the other is unstable. Numerical results of 0A, 0i:, 0,,
(Press et al. 1992). and SB/L for both equilibrium states computed from the elliptic
Step 4 Minimize the error norm using the Nelder and Mead integrals method and the shooting-optimization method are
simplex method (Nelder and Mead, 1965 ) with respect compared in Tables 1 and 2 for M = 3 and 4, and for values
to M and x-n. The objective function ~I) for the minimi- of/3 ranging from 0.2 to 1.0. There is generally an excellent
zation process is agreement between the results obtained from the two methods,
thus confirming the validity of the solution.
M i n d = Iz(0)l + lY(0)I. (35) Figure 2 shows the variations of the moment parameter
~7,s~
with respect to Oaand 01~for values of/3 up to 0.35. The curves
Step 5 Once the value of M, 0a, and 0r are obtained, the value indicate that there are at least two solutions for a given value
of Oc is calculated using Eq. (9). of M and/3. Physically, it can be seen that as M initially in-
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creases from zero, the end rotation OA(or 10nl) increases from rium configurations for which the scaling parameter/3 is close
zero as well. As M reaches a maximum resisting value of beam, to unity.
an infinitesimal increase in ]ff will initiate continuous beam
motion. Furthermore, an increment of rotation Oa (or [0BI) re- Acknowledgment
quires no increment of ~/, and for the equilibrium/~ should be
reduced instead of being increased. At this state the equilibrium The authors would like to acknowledge the reviewers for
is unstable, since a small disturbance will initiate continuous their many useful comments which lead to improvements in the
beam motion. Therefore, the peak value of )~ for each /3 is revised manuscript.
known as the maximum or critical value of 34 or A4"cr. This
value can be determined numerically using the Dichotomous References
search algorithm (Kempf, 1987) during calculations in Step 5. Byrd, P.F., and Friedman, M.D., 1971, Handbook of Elliptic Integrals for
A plot of/~c, against/3 is given in Fig. 3. It can be seen that Engineers and Scientists, 2nd Ed,, Springer-Verlag, Berlin.
the critical moment value increases rapidly when /3 > 0.35. Conway, H.D., 1974, "The large deflection of a simply supported beam,"
Phil. Mag., Series 7, Vol. 38, pp. 905-911.
The critical moment values for/3 greater than 0.35 are somewhat Chucheepsakul, S., Bunchareon, S., and Wang, C. M,, 1994, "Large deflection
difficult to obtain because their magnitudes are relatively very of beams under moment gradient," J. Engrg. Mech., ASCE, Vol. 120, pp. 1848-
large. 1860.
Owing to the presence of a critical moment parameter, there Chucheepsakul, S., Bunchareon, S., and Huang, %, 1995, "Elastica of simple
variable-arc-length beam subjected to an end moment," J. Engrg. Mech., ASCE,
is therefore a critical value of/3 associated with a moment value Vol. 121, pp. 767-772.
where no solution exists. For example, when M = 3, /3 must Chucheepsakul, S., Theppitak, G., and Wang, C.M., 1996, "Large deflection
be greater than about 0.1 before an equilibrium configuration of simple variable-arc-length beam subjected to a point load," Struct. Engrg. &
can exists and for M = 4,/3 must be greater than about 0.2. Mech., Vol. 4, No. 1, pp. 49-59.
Chucheepsakul, S., and Huang, T., 1997a, "Finite-element solution of variable-
The stable and unstable equilibrium configurations for Mcr = arc-length beams under a point load," J. Struct. Engrg., ASCE, Vol. 123, No. 7,
3 and 4 are shown in Figs. 4-7. It can be seen that, for the pp. 968-970.
unstable cases, the elasticas snap back and form single loops Chucheepsakul, S., Theppitak, G., and Wang, C. M., 1997b, "Exact solutions
when/3 is greater than 0.8. of variable-arc-length elasticas under moment gradient," Struct. Engrg. & Mech.,
Vol. 5, No. 5, pp. 529-539.
Golley, B.W., 1997, Discussion on "Elastica of simple variable-arc-length
6 Concluding Remarks beam subjected to end moment," J. Engrg. Mech., ASCE, Vol. 123, No. 1, pp.
93- 94.
The governing equations and solutions for double curvature Gospodnetic, D., 1959, "Deflection Curve of a Simply Supported Beam,"
bending of variable-arc-length elasticas are presented. The two ASME JOURNAL OF APPLIED MECHANICS, Vo[. 26, pp. 675-676.
approaches used to solve the problem, namely the elliptic inte- Hartono, W., 1997, Discussion on "Elastica of simple variable-arc-length beam
grals method and the shooting-optimization method, yield al- subjected to end moment," J. Engrg. Mech., ASCE, Vol. 123, No. 1 pp. 92-93.
Kempf, J., 1987, Numerical Solfware Tools in C, Prentice-Hall, Englewood
most the same solutions. The problem involves two possible Criffs, NJ, pp. 178-180.
equilibrium configurations, one that is stable while the other Nelder, J, A., and Mead, R., 1965, "A simplex method for function minimiza-
unstable. The stable ones are associated with the smaller slope tion," Comp. J., Vol. 7, pp. 308-313.
values while the unstable ones are associated with the larger Press, W. H., Teukolsky, S.A., Vettering, W.T.~ and Flannery, B.P., 1992,
Numerical Recipes in Fortran, 2nd Ed., Cambridge University Press, pp. 708-
slope values. 716, 372-38l, 401-406.
Critical moment parameter values Mc,-are computed for vari- Schile, R. D., and Sierakowski, R. L., 1967, "Large deflection of a beam loaded
ous values of/3. Equilibrium states for the variable arc-length and supported at two points," Int. J. Non-linear Mech,, Vol. 2, pp. 61-68.
elasticas do not exist when the moment parameter values are Wang, C.M., Lam, K. Y., He, X. Q., and Chucheepsakul, S., 1997, "Large
deflections of an end supported beam subjected to a point load," Int. J. Nonlinear
greater than these critical moment values. Mechanics, Vol. 31, No. 1, pp. 63-72.
This study also shows the interesting snap-back equilibrium Wang, T.M., 1968, "Nonlinear bending of beams with concentrated loads,"
solutions involving single loops in the cases of unstable equilib- J. of Franklin Institute, Vol. 285, pp. 386-390.
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