Professional Documents
Culture Documents
Socrate 2013
K. Qian
Axisymmetric Shafts in Torsion
Loading Conditions on each Section (x)
Applied loading only around the axis (x) of the shaft.
The only internal resultant at any sections ┴ x
is the axial torque T(x)
dT ( x )
= −t ( x )
dx
Kinematics constraint (geometry of deformation)
Cross sections ┴ x : stay flat, rotate by ϕ(x)
Section deformation
Section at x has rotation ϕ(x)
Section at x+dx has rotation ϕ(x+dx)= ϕ(x)+dϕ
Local measure of deformation dϕ
at section x: twist rate
dx
Strain "! section deformation
dϕ
sections rigidly rotate! strain γ increases with radius r: γ ( r , x ) = r (x )
dx
Constitutive Properties
If the material is linear elastic and the
shear modulus of elemental area dA is G
the stress can be obtained as τ ( r , x ) = G ( r , x )⋅ γ ( r , x )
Section Response Constant over cross
section
dϕ
T (x ) = ∫ r ⋅ τ ( r , x )⋅ 2π r dr = ∫ r ⋅G ( r , x ) γ ( r , x ) ⋅ dA = ∫ r ⋅G ( r , x ) r ⋅ dA
A A A dx
dϕ dϕ dϕ T (x )
T (x ) =
dx
∫ r 2 G ( r , x ) dA = dx
( GI p )eff ( x )←%%
invert
→
dx
( x ) =
( GI p )eff ( x )
A
2
Effective Section Stiffness: ( GI p )eff ( x ) = ∫r G ( x ,r ) dAx
Ax
Differential relationships:
dS( x) dM( x)
= −q y ( x ) ; = −S ( x )
dx dx
Examples S(x) and M(x) diagrams
• start at x=L with S(x)=0 , M(x)=0
• walk the beam
from right to left: S S S
x x x
(in –x direction)
x x
dθ 1
slope θ ( x) = θ ( x0 ) + ∫ dx = θ 0 + ∫ ( x)dx
x0
dx x0
ρ
x x
dθ
deflection v ( x ) = v ( x0 ) + ∫ dx = v0 + ∫ θ ( x) dx
x0
dx x0
with θ (x0)=θ0 and v(x0)=v0 determined by BC (e.g., θ0=0 and v0 =0 at wall)
Note that for simply supported beams, must use instead two BCs on v(x) (zero at supports)
section deformation "! Strain
• sections rigidly rotate! strain varies linearly with y
• for positive curvature, top of section shortens, bottom elongates
• for cross sections with top-bottom symmetry the mid-plane is neutral
no change in x-length on neutral mid-plane! set y=0 at midplane
ds − dx (ρ ( x) − y )⋅ dθ − ρ ( x) ⋅ dθ y
ε a ( x, y) = = =−
dx ρ ( x) ⋅ dθ ρ ( x)
εa
h
ε MAX =
2ρ
strain distributions on cross section x for a positive curvature (concave up)
Section equilibrium
The Bending Moment M(x) at section x is obtained
by integrating the contributions of each elemental
area, dA at distance y from the axis, which carries
a normal stress σn(x,y,z)
M(x) = ∫ − y σ n ( x, y, z ) dA
A
Constitutive Properties
If the material is linear elastic and the Young s modulus
of elemental area dA is E, the stress can be obtained as
σ n ( x, y, z ) = E ( x, y, z ) ⋅ ε a ( x, y)
Section Response Constant over cross
section
1
M (x) = ∫ − yσ n ( x, y, z ) dA = ∫ − y ⋅ E ( x, y, z ) ε a ( x, y ) dA = ∫ y 2 ⋅ E ( x, y, z ) ( x) ⋅ dA
A A A
ρ
1 1 1 M (x)
M (x) = ( x) ∫ y 2 E ( x, y, z ) dA = ( x)(EI ) eff ( x) ←" "→
invert
( x) =
ρ A
ρ ρ ( EI ) eff ( x)
Effective Section Stiffness: ( EI ) eff ( x) = ∫ y 2 E ( x, y, z ) dAx
A
If only 1 material, E(x)! (EI)eff =E(x) I (x);
π RO 4 π RI 4 BH 3 bh 3 BH 3 bh 3
I= − I= −2 I= +2
4 4 12 12 12 12
Caution: for simple superposition, all areas for I1 , I2 … must have centroid on y=0
if not ! need to use parallel axis theorem
I = ∫ y 2 dA + ∫ y 2 dA + ∫ y 2 dA
A1 A2 A3
$π R 4
!
! 4
I = ∫ y 2 dA = #
ρ(x)$ A ! bh 3
x !
" 12
Stress and strain distributions on cross section x for a positive bending moment M (x)
Uniaxial Loading Torsion Bending
Sections ┴ x: stay flat, translate in x by u(x) Sections ┴ x: stay flat, rotate around x by ϕ(x) Sections ┴ x: stay flat, rotate around z by θ(x)
du ( x) dϕ ( x ) dθ ( x) 1
= ( x)
dx dx dx ρ
du ( x) dϕ ( x) dθ ( x) − y
ε a ( x) = γ ( x, r ) = r ε a ( x, y ) = − y =
dx dx dx ρ ( x)
σ n ( x, y, z ) = E ( x, y, z) ⋅ ε a ( x) τ ( x, r ) = G( x, r ) ⋅ γ ( x, r ) σ n ( x, y, z ) = E ( x, y, z ) ⋅ ε a ( x, y)
du ( x) N(x) dϕ ( x) T(x) dθ ( x) 1 M(x)
= = = ( x) =
dx ( EA)eff ( x) dx (GI p )eff ( x) dx ρ ( EI )eff ( x)
( EA) eff ( x) = ∫ E ( x, y, z ) dA (GIp ) eff ( x) = ∫ r 2G ( x, r ) dA ( EI ) eff ( x) = ∫ y 2 E ( x, r ) dA
A A A
x N(x) T(x)
x x M(x)
u ( x) = u ( x0 ) + ∫ dx ϕ ( x) = ϕ ( x0 ) + ∫ dx θ ( x) = θ ( x0 ) + ∫ dx
x0 ( EA) ( x) x0 (GI ) ( x) x0 ( EI ) ( x )
eff p eff eff
x
v( x) = v( x0 ) + ∫ θ ( x)dx
x0