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Constitutive Law: - Conservation of Energy - Strain Energy - Hooke's Law
Constitutive Law: - Conservation of Energy - Strain Energy - Hooke's Law
Constitutive Law: - Conservation of Energy - Strain Energy - Hooke's Law
• Conservation of Energy
• Strain Energy
• Hooke’s Law
1 September 2016 Solid Mechanics | Constitutive Relations 1
Consider a mildsteel coupon under uniaxial
tension. The growth of stress with that of strain is
shown schematically in the figure.
It may be observed that a significant portion is
almost linear (the encircled portion in the figure).
The slope of this linear part of the stress‐strain is
known as Young’s modulus and is generally
denoted by E.
Thus, within linear range we have
σ
This is known as the celebrated Hooke’s Law for
1D problem.
For homogeneous material we assume that E does
not depend on position, or in other words, E is the
same at all points.
1 September 2016 Solid Mechanics | Constitutive Relations 2
Consider a small cube of dimensions
. The coordinate axes are shown in the
figure. Under the action of a uniaxial stress
, the length of the cube along x-direction
becomes 1 .
This strain can be computed as
(by Hooke’s Law)
The other sides of the cube become 1 and
1 along y and z directions, respectively.
Along with the increase in length in x‐direction, the
lengths in the other two directions are decreased.
(Poisson’s observation; SD Poisson, 1828!)
For homogeneous and isotropic material the lateral
strains, i.e, and , maintain constant relationship
with the longitudinal strain and can be written as
where is the so called Poisson’s ratio.
1 September 2016 Solid Mechanics | Constitutive Relations 3
Therefore, from the above we get
Similar results can be obtained for uniaxial tensile stress along y and z direction.
Along y direction:
Along z-direction:
1 September 2016 Solid Mechanics | Constitutive Relations 4
Using method of superposition we get the following relationship for a general situation
0
1 1
1
1
or
1
1
1 1 2
1
What is G?
1 September 2016 Solid Mechanics | Constitutive Relations 5
Let us consider a situation where 0⇒ 1 0.
In order to establish the relations between G and E we shall consider this plane-stress situation
1 September 2016 Solid Mechanics | Constitutive Relations 6
Recall :
cos 2 sin 2θ
2 2
cos 2 sin 2θ
2 2
sin 2 cos 2θ
2
cos 2 sin 2θ
2 2 2
cos 2 sin 2θ
2 2 2
sin 2 cos 2θ
1 September 2016 Solid Mechanics | Constitutive Relations 7
For 0, and 45 , we have
τ
τ
0
1 September 2016 Solid Mechanics | Constitutive Relations 8
Consider simple shearing deformation of a square
block.
The diagonal line segment OP is deformed into OP’
under pure shear. Let the shear strain be . Now
from the geometry, we get
tan (valid for small )
or
PP
1 September 2016 Solid Mechanics | Constitutive Relations 9
Now, we shall compare the followings
1
1 1
This gives
2 1
1 September 2016 Solid Mechanics | Constitutive Relations 10
Isotropic and homogeneous material
Compliance Relation
1 0 0 0
1 0 0 0
1 1 0 0 0
0 0 0 2 1 0 0
0 0 0 0 2 1 0
0 0 0 0 0 2 1
3D case
Constitutive Relation
1 0 0 0
1 0 0 0
1 0 0 0
1 2
0 0 0 0 0
2
1 1 2 1 2
0 0 0 0 0
2
1 2
0 0 0 0 0
2
1 September 2016 Solid Mechanics | Constitutive Relations 11
Isotropic and homogeneous material
2 0 0 0
2 0 0 0
2 0 0 0
0 0 0 0 0
0 0 0 0 0
3D case 0 0 0 0 0
and : known as Lame elastic constants
1 September 2016 Solid Mechanics | Constitutive Relations 12
Isotropic and homogeneous material
1 0
1 0
1 1
0 0
2
Compliance relation
1 1 0
1 0
0 0 2 1
1 September 2016 Solid Mechanics | Constitutive Relations 13
Isotropic and homogeneous material
1 September 2016 Solid Mechanics | Constitutive Relations 14
Isotropic and homogeneous material
Compliance relation:
1 1 0 ∗
1 1 1 0
∗
2D case 1 1 0 ∗
1 0
∗
0 0 2 1 0 0 2 1
with
∗ ∗
;
1 1
Constitutive relation:
∗
1 0 1 0
∗ ∗
1 0 1 0
∗ 1
1 ∗ 1 1 1 2
0 0 0 0
2 2
1 September 2016 Solid Mechanics | Constitutive Relations 15
Volumetric strain
1 September 2016 Solid Mechanics | Constitutive Relations 16
Hydrostatic and deviatoric split of stresses
2
3
1 0 0 2
0 1 0
3 3
0 0 1
2
Responsible for volume change 3
or
Responsible for shape change
2
3
1 0 0 2
0 1 0
0 0 1 3
2
3
1 September 2016 Solid Mechanics | Constitutive Relations 17
From the 3D constitutive law we have
2 2 2
3 2 3 2
or
3 2
3 3
Thus one identifies the bulk modulus as
pressure 2
volumetric strain compression 3
1 September 2016 Solid Mechanics | Constitutive Relations 18
Shape change is the measure of distortion.
One may observe that the stresses associated with distortion is given by
2
3
2
3
2
3
The constitutive relation for reads
2
3
2 2 2 2
3
2 2 2
2 2 2 ; with
3 3 3
Similarly one obtains
2
2 ; with
3
2
2 ; with
3
1 September 2016 Solid Mechanics | Constitutive Relations 19
The constitutive relation for in compact form is written as
1 0 0
0 1 0
0 0 1
NOTE: The second part in the above slit of strains is the measure of distortion ( shape change) as the volumetric strain
associated with the second part is zero, i.e., 0.
1 September 2016 Solid Mechanics | Constitutive Relations 20
The constitutive relation
1 1
1 1
1 1
2
0 0
0 0
0 0
· ⇒
Let us check ·
2 2
4 12
1 September 2016 Solid Mechanics | Constitutive Relations 23
Failure theories
• Maximum Principal Stress Criterion
• Maximum Principal Strain Criterion
• Strain Energy Density Criterion
• Maximum Shear Stress (Tresca) Criterion
• Distortional Energy Density (von Mises) Criterion
1 September 2016 Solid Mechanics | Constitutive Relations 24
Consider a mildsteel coupon under uniaxial
tension. The growth of stress with that of strain is
shown schematically in the figure.
The stress at A is known as the Yield stress.
If we start unloading the coupon from any point
beyond A (say B), then it would follow a path
shown using red line (BO1). After the coupon is
unloaded from B, a permanent deformation of the
coupon occurs (OO1) .
In design of structural members whenever the
developed stress exceeds the yield stress or
permanent deformation occurs, it is assumed to
have failed. It would not serve the purpose for
which it has been designed.
In the failure theory, the challenge is to identify
the state of stress for both brittle and ductile
materials which causes permanent deformation or
material yielding. This can be easily achieved in 1D
elements.
1 September 2016 Solid Mechanics | Constitutive Relations 25
How to identify the critical state of stress in 2D or
3D situation?
Usually this is done by comparing the critical value
of (1) stress component, (2) strain component, (3)
total or partial strain energies.
1 September 2016 Solid Mechanics | Constitutive Relations 26
In the subsequent discussion, we shall assume the followings
• In 1D case, we assume only one stress component for direct stress or for shear stress.
• In 2D case, we use , for the two nonvanishing principal stresses and shall assume 0.
• In 3D case, we use , and for the principal stresses
Unless otherwise mentioned we assume that the maximum allowable direct stress is and
maximum allowable shear stress is .
Further, we assume that is measured from uniaxial coupon test.
1 September 2016 Solid Mechanics | Constitutive Relations 27
Maximum Principal Stress Criterion
Let ≔ max , , be the effective stress.
2D case:
• If , we have
⇒ or
• If , we have
⇒ or
The above inequalities define the failure region in the
principal stress space. The area outside the square of
side length including the boundary represent the
failure zone. (see the right-side Figure)
1 September 2016 Solid Mechanics | Constitutive Relations 28
Maximum Principal Stress Criterion
3D case:
• If , , we have
⇒ or
• If , , we have
⇒ or
• If , , we have
⇒ or
The above inequalities define the failure region in the
principal stress space. This consists of two parts, i.e., (1)
the outer region and (2) the bounding surface of a cube
of edge length .
1 September 2016 Solid Mechanics | Constitutive Relations 29
Maximum Principal Strain Criterion
The effective strain to be used here is defined as
max , ,
It states that failure begins when the effective
strain at a point in a member reaches a value
equal to . The critical strain is calculated as
where is the measured elastic limit stress
in a member under uniaxial tensile test.
2D case(plane stress with , ≫ )
If , then implies
If , then implies
The above inequalities define a domain which consists of (1) the outside
including the boundary of a square of length in the principal strain
space. (See the right-side figure)
However, with the aid of compliance relation the inequalities can be 1 1
expressed in terms of principal stresses as 1
max , 1
In 2D, this set defines the outer region of a rhombus in the principal stress space.
2D Case: and
1 September 2016 Solid Mechanics | Constitutive Relations 30
Maximum Principal Strain Criterion
3D case
If , , then implies
If , , then implies
If , , then implies
The above inequalities define a domain which consists of (1) the outside including
the bounding surface of a cube of edge length in the principal strain space. (See
the right-side figure)
Again, with the aid of compliance relation the inequalities can be expressed in terms
of principal stresses as
max , ,
In 2D, this set defines the outer region of a parallelepiped in the principal stress
1 1
space. 1
3D Case: , and 1
1 September 2016 Solid Mechanics | Constitutive Relations 31
Maximum Shear Stress (Tresca) criterion
This is also known as Coulomb’s criterion or Guest’s law. Here we
consider the maximum shear stress as the effective stress and can
be defined as
≔ max , ,
2 2 2
This criterion states that failure begins when the effective stress at
a point in a member reaches a value equal to where is
the
Let measured
, and limiting elastic stress
be the principal in a member under uniaxial
stresses.
tensile
For 2D test.
plane stress ( 0) case we have the following
• When and are of opposite sign then this criterion reads
which implies
for 0 and 0
and
for 0 and 0
• When and are of same sign then this criterion reads
⇒ and for
and
⇒ and for
1 September 2016 Solid Mechanics | Constitutive Relations 32
Maximum Shear Stress (Tresca) criterion
1 September 2016 Solid Mechanics | Constitutive Relations 33
Maximum Distortion Energy (von Mises) Criterion
1 September 2016 Solid Mechanics | Constitutive Relations 34
Maximum Distortion Energy (von Mises) Criterion
1 September 2016 Solid Mechanics | Constitutive Relations 35
1 September 2016 Solid Mechanics | Constitutive Relations 36
Problem: Determine the strains for the following displacements
, , 0, , , 0, , , 10 3 4 /5
• Find the principal strains and the corresponding directions
• Find the principal stresses.
Answer:
1 September 2016 Solid Mechanics | Constitutive Relations 37
1 September 2016 Solid Mechanics | Constitutive Relations 38
Principal strains
Principal directions (not normalized)
1 September 2016 Solid Mechanics | Constitutive Relations 39
Problem: A thin‐walled cylindrical tube is subjected to internal pressure. The wall thickness of the tube is t and the radius of
the tube is R. The state of stress on a point in the lateral surface is given by
; and 0
Calculate the critical pressure such that failure begins according to
1. Tresca criterion
2. von‐Mises criterion
Assume 100 mm, 2 mm and 250 MPa
1 September 2016 Solid Mechanics | Constitutive Relations 40
The given stress condition corresponds to a two‐dimensional state of stress where the shear stresses are zero.
Hence, the given stress components are the principal stresses.
Given data: ; and 0
250 2
⇒ MPa 2.5 MPa
200
1 September 2016 Solid Mechanics | Constitutive Relations 41
The given stress condition corresponds to a two‐dimensional state of stress where the shear stresses are zero.
Hence, the given stress components are the principal stresses.
Given data: ; and 0
250 2
0.85 ⇒ MPa 2.94 MPa
0.85 170
1 September 2016 Solid Mechanics | Constitutive Relations 42
The given stress condition corresponds to a two‐dimensional state of stress where the shear stresses are zero.
Hence, the given stress components are the principal stresses.
Given data: ; and 0
250 2
⇒ MPa 2.5 MPa
200
1 September 2016 Solid Mechanics | Constitutive Relations 43
The given stress condition corresponds to a two‐dimensional state of stress where the shear stresses are zero.
Hence, the given stress components are the principal stresses.
Given data: ; and 0
The von Mises/Huber/Maximum octahedral shear stress criteria suggests the followings
For 2D plane stress ( 0) case we have the following
•
1 3
2 2 2
3 2 250 4
⇒ MPa 2.89 MPa
2 3 3 200
1 September 2016 Solid Mechanics | Constitutive Relations 44