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Chapter01 PDF
Chapter 1
Introduction
1.1
Case Study: Pneumatically Actuated PDMS Fingers
1.2
Structural Mechanics: A Quick Review
1.3
Finite Element Methods: A Conceptual Introduction
1.4
Failure Criteria of Materials
1.5
Review
Chapter 1 Introduction
Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers
2
Section 1.1
Case Study: Pneumatically Actuated
PDMS Fingers
Problem Description
5
[3] [4] The strain-stress
Geometric 4 curve of the PDMS
model. elastomer used in
Stress (MPa)
this case.
3
0
0 0.2 0.4 0.6 0.8 1.0
Strain (Dimensionless)
[6] Undeformed
shape.
[8] Strains.
[7] Displacements.
Chapter 1 Introduction
Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers
6
• Stress-stiffening: bending stiffness increases with increasing axial tensile stress, e.g., guitar string.
• The opposite also holds: bending stiffness decreases with increasing axial compressive stress.
• Buckling: phenomenon when bending stiffness reduces to zero, i.e., the structure is unstable.
Usually occurs in slender columns, thin walls, etc.
• Purpose of a buckling analysis is to find buckling loads and buckling modes.
Dynamic Simulations
Modal Analysis
Structural Nonlinearities
Deflection (mm)
-10
the reality, a nonlinear simulation
-15
is needed. [1] Solution of the
-20 nonlinear simulation
• Structural nonlinearities come of the PDMS finger.
Section 1.2
Structural Mechanics: A Quick Review
Displacements
Stresses
[3] This face is called
negative X-face.
⎧ σ τ XY τ XZ ⎫ [2] This face is
⎪⎪ X ⎪⎪ Z
{ }
σ = ⎨ τ YX σY τ YZ ⎬ called X-face, since the
X-direction is normal σZ
⎪ ⎪
⎪⎩ τ ZX τ ZY σZ ⎪
⎭ to this face.
τ ZX
τ ZY
τ XY = τ YX , τ YZ = τ ZY , τ XZ = τ ZX [5] The Y-
component of the
stress on X-face.
τ YX
{σ } = { σ X
σY σZ τ XY τ YZ τ ZX } τ XY
τ YZ σY
σX τ XZ
X Y
[4] The X-component
of the stress on X-face.
[6] The Z-component
[1] The reference of the stress on X-face.
frame XYZ.
Chapter 1 Introduction
Section 1.2 Structural Mechanics: A Quick Review
13
C ′′′ B ′′
C
A′ B′
[1] The reference Y
frame. B ′′′
A B D
[7] And the vector
X
DB ′′′ describes the twist
BB ′′′ of ABC in X-face.
Strain on X-face =
AB
[2] Original
configuration ABC.
BD DB ′′′ [6] The vector BD
εX = , γ XY =
AB AB describes the stretch of
ABC in X-face.
Chapter 1 Introduction
Section 1.2 Structural Mechanics: A Quick Review
14
Governing Equations
{u} = { uX uY uZ }
{σ } = { σ X
σY σZ τ XY τ YZ τ ZX }
{ε } = { εX εY εZ γ XY γ YZ γ ZX }
Totally 15 quantities
σX σ σ
εX =
E
−ν Y −ν Z
E E • For isotropic, linearly elastic materials,
εY =
σY
−ν
σZ
−ν
σX Young's modulus (E) and Poisson's ratio ( ν )
E E E
σZ σX σY can be used to fully describe the stress-
εZ = −ν −ν
E E E
strain relations.
τ τ τ
γ XY = XY , γ YZ = YZ , γ ZX = ZX
G G G • The Hooke's law is called a material
model.
• The Young's modulus and the Poisson's
ratio are called the material parameters
E of the material model.
G=
2(1+ ν )
Chapter 1 Introduction
Section 1.2 Structural Mechanics: A Quick Review
17
εX =
σX σ σ
− ν Y − ν Z + αΔT
• If temperature changes (thermal loads)
E E E
are involved, the coefficient of thermal
σY σZ σX
εY = −ν −ν + αΔT
E E E expansion, (CTE, α ) must be included.
σ σ σ
ε Z = Z − ν X − ν Y + αΔT
E E E • If inertia forces (e.g., dynamic
τ τ τ simulations) are involved, the mass
γ XY = XY , γ YZ = YZ , γ ZX = ZX
G G G
density must be included.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
18
Section 1.3
Finite Element Methods: A Conceptual
Introduction
Basic Ideas
• A basic idea of finite element methods is to divide the structural body into small and
geometrically simple bodies, called elements, so that equilibrium equations of each
element can be written, and all the equilibrium equations are solved simultaneously
• The elements are assumed to be connected by nodes located on the elements' edges
and vertices.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
19
1. Given the bodies' geometries, material properties, support conditions, and loading
conditions.
2. Divide the bodies into elements.
3. Establish the equilibrium equation: [K] {D} = {F}
3.1 Construct the [K] matrix, according to the elements' geometries and the material
properties.
3.2 Most of components in {F} can be calculated, according to the loading conditions.
3.3 Most of components in {D} are unknown. Some component, however, are known,
according to the support conditions.
3.4 The total number of unknowns in {D} and {F} should be equal to the total number
of degrees of freedom of the structure.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
22
4. Solve the equilibrium equation. Now, the nodal displacements {d} of each element are
known.
5. For each element:
5.1 Calculate displacement fields {u}, using an interpolating method, {u} = [N] {d}. The
interpolating functions in [N] are called the shape functions.
5.2 Calculate strain fields according to the strain-displacement relations.
5.3 Calculate stress fields according to the stress-strain relations (Hooke's law).
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
23
Shape Functions
[1] A 2D 4-node
quadrilateral element
• Shape functions serve as interpolating d6
values).
Y
d4
{u} = ⎡⎣N ⎤⎦ {d} d2
d3
• For elements with nodes at vertices, X d1
the interpolation must be linear and
[2] This element's
thus the shape functions are linear (of nodes locate at
X,Y, Z). vertices.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
24
• For elements with nodes at vertices as well as at middles of edges, the interpolation
must be quadratic and thus the shape functions are quadratic (of X,Y, Z).
• Elements with linear shape functions are called linear elements, first-order elements, or
lower-order elements.
• Elements with quadratic shape functions are called quadratic elements, second-order
elements, or higher-order elements.
• ANSYS Workbench supports only first-order and second-order elements.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
25
Workbench Elements
3D Solid Bodies
[4] Tetrahedron.
[2] Triangle-based
prism.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
26
2D Solid Bodies
[5] 2D 8-node
structural solid.
Each node has 2
translational
degrees of [6] Degenerated
freedom: DX and Triangle.
DY.
Chapter 1 Introduction
Section 1.3 Finite Element Methods: A Conceptual Introduction
27
3D Surface Bodies
[8] Degenerated
Triangle
[7] 3D 4-node
structural shell.
Each node has 3
translational and 3
rotational degrees
of freedom: DX, DY,
DZ, RX, RY, and RZ.
3D Line Bodies
[9] 3D 2-Node
beam. Each node has
3 translational and 3
rotational degrees of
freedom: DX, DY, DZ,
RX, RY, RZ.
Chapter 1 Introduction
Section 1.4 Failure Criteria of Materials
28
Section 1.4
Failure Criteria of Materials
Stress
deformation. [1] Stress-strain curve
for a ductile material.
• Therefore, for these materials, we are most
concerned about whether the material Strain
[2] Fracture
• Cast iron and ceramics are two examples point.
of brittle materials.
σf
• For brittle materials, there usually doesn't
Stress
exist obvious yield point, and we are [1] Stress-strain
curve for a
concerned about their fracture point σ f . brittle material.
Strain
Chapter 1 Introduction
Section 1.4 Failure Criteria of Materials
31
Failure Modes
Principal Stresses
[8] Point of [4] Other stress
maximum pairs could be
• A direction in which the shear [5]
Mohr's
shear stress. drawn.
• In 1913, Richard von Mises proposed a theory for predicting the yielding of ductile
materials. The theory states that the yielding occurs when the deviatoric strain energy
density reaches a critical value, i.e.,
w d ≥ w yd
• After substitution and simplification, the criterion reduces to that the yielding
occurs when
1⎡
( ) ( ) ( )
σ1 − σ 2 + σ 2 − σ 3 + σ 3 − σ1 ⎤⎥ ≥ σ y
2 2 2
⎢
2⎣ ⎦
• The quantity on the left-hand-side is termed von Mises stress or effective stress, and
denoted by σ e ; in ANSYS, it is also referred to as equivalent stress,
1⎡
( ) ( ) ( )
σ1 − σ 2 + σ 2 − σ 3 + σ 3 − σ1 ⎤⎥
2 2 2
σe = ⎢
2⎣ ⎦