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Nonlinear Solid Mechanics

A Continuum Approach for Engineering

Gerhard A. Holzapfel
Graz University of Technology, Austria

JOHN WILEY & SONS, LTD

Chichester

Weinheim

New York

Brisbane

Singapore

Toronto

Contents

Preface

ix

Acknowledgements

xiii

1 Introduction to Vectors and Tensors

1.1

Algebra of Vectors

1.2

Algebra of Tensors

1.3

Higher-order Tensors

20

1.4

Eigenvalues, Eigenvectors of Tensors

24

1.5

Transformation Laws for Basis Vectors and Components

28

1.6

General Bases

32

1.7

Scalar, Vector, Tensor Functions

40

1.8

Gradients and Related Operators

44

1.9

Integral Theorems

52

2 Kinematics

55

2.1

Configurations, and Motions of Continuum Bodies

56

2.2

Displacement, Velocity, Acceleration Fields

61

2.3

Material, Spatial Derivatives

64

2.4

Deformation Gradient

70

2.5

Strain Tensors

76

2.6

Rotation, Stretch Tensors

85

2.7

Rates of Deformation Tensors

95

2.8

Lie Time Derivatives

106
v

vi

Contents

3 The Concept of Stress

109

3.1

Traction Vectors, and Stress Tensors

109

3.2

Extremal Stress Values

119

3.3

Examples of States of Stress

123

3.4

Alternative Stress Tensors

127

4 Balance Principles

131

4.1

Conservation of Mass

131

4.2

Reynolds'Transport Theorem

138

4.3

Momentum Balance Principles

141

4.4

Balance of Mechanical Energy

152

4.5

Balance of Energy in Continuum Thermodynamics

161

4.6

Entropy Inequality Principle

166

4.7

Master Balance Principle

174

5 Some Aspects of Objectivity

179

5.1

Change of Observer, and Objective Tensor Fields

179

5.2

Superimposed Rigid-body Motions

187

5.3

Objective Rates

192

5.4

Invariance of Elastic Material Response

196

6 Hyperelastic Materials

205

6.1

General Remarks on Constitutive Equations

206

6.2

Isotropic Hyperelastic Materials

212

6.3

Incompressible Hyperelastic Materials

222

6.4

Compressible Hyperelastic Materials

227

6.5

Some Forms of Strain-energy Functions

235

6.6

Elasticity Tensors

252

6.7

Transversely Isotropic Materials

265

Contents

vii

6.8

Composite Materials with Two Families of Fibers

272

6.9

Constitutive Models with Internal Variables

278

6.10 Viscoelastic Materials at Large Strains

282

6.11 Hyperelastic Materials with Isotropic Damage

295

7 Thermodynamics of Materials

305

7.1

Physical Preliminaries

306

7.2

Thermoelasticity of Macroscopic Networks

311

7.3

Thermodynamic Potentials

321

7.4

Calorimetry

325

7.5

Isothermal, Isentropic Elasticity Tensors

328

7.6

Entropic Elastic Materials

333

7.7

Thermodynamic Extension of Ogden's Material Model

337

7.8

Simple Tension of Entropic Elastic Materials

343

7.9

Thermodynamics with Internal Variables

357

8 Variational Principles

371

8.1
8.2

Virtual Displacements, Variations

Principle of Virtual Work

372
377

8.3
8.4

Principle of Stationary Potential Energy

Linearization of the Principle of Virtual Work

386
392

8.5

Two-field Variational Principles

402

8.6

Three-field Variational Principles

409

References

415

Index

435