Solid Mechanics Review 061904

1
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
22.515 Solid Mechanics Review
Review
Solid Mechanics
&
Finite Elements
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
[ K ]
n
[ M ]
n
[ M ]
a
[ K ]
a
[ E ]
a
| |
2
Structural Dynamic Modeling Techniques & Modal Analysis Methods
2
Dr. Peter Avitabile
Solid Mechanics Background
Basic understanding of Solid Mechanics is reviewed
This material is needed for refresher to support
finite element model development
3
Dr. Peter Avitabile
Stress
The state of stress in an elemental volume is given
as
If the coordinates are principal axes then
{ } | |
xz yz xy z y x
T
=
{ } | | 0 0 0
3 2 1
T
=
4
Dr. Peter Avitabile
Strain
The state of strain in an elemental volume is given
as
If the coordinates are principal axes then
{ } | |
xz yz xy z y x
T
=
{ } | | 0 0 0
3 2 1
T
=
5
Dr. Peter Avitabile
Strain-Displacement Equations
The strain displacement relations are
x
w
z
w
x
v
z
v
x
u
z
u
x
w
z
u
z
w
y
w
z
v
y
v
z
u
y
u
z
v
y
w
y
w
x
w
y
v
x
v
y
u
x
u
y
u
x
v
z
w
z
v
z
u
2
1
z
w
y
w
y
v
y
u
2
1
y
v
x
w
x
v
x
u
2
1
x
u
zx
yz
xy
2 2 2
z
2 2 2
y
2 2 2
x
=
(
(
|
.
|
\
|
+
|
.
|
\
|
+
|
.
|
\
|
=
(
(
|
.
|
\
|
+ |
.
|
\
|
+ |
.
|
\
|
=
(
(
|
.
|
\
|
+
|
.
|
\
|
+
|
.
|
\
|
=
6
Dr. Peter Avitabile
Strain-Displacement Equations
Retaining only the first order (or linear) terms and
neglecting the second order terms gives
z
w
y
v
x
u
z
y
x
=
y
w
z
v
x
w
z
u
x
v
y
u
yz
xz
xy
=
7
Dr. Peter Avitabile
Linear Constitutive Equations
The generalized Hooke's Law can be written as
{ } | |{ }
(
(
(
(
(
(
(
=
yz
xz
xy
z
y
x
66 65 64 63 62 61
56 55 54 53 52 51
46 45 44 43 42 41
36 35 34 33 32 31
26 25 24 23 22 21
16 15 14 13 12 11
yz
xz
xy
z
y
x
C C C C C C
C C C C C C
C C C C C C
C C C C C C
C C C C C C
C C C C C C
C
8
Dr. Peter Avitabile
The generalized Hooke's Law can be written as
{ } | |{ }
(
(
(
(
(
(
(
=
yz
xz
xy
z
y
x
66 65 64 63 62 61
56 55 54 53 52 51
46 45 44 43 42 41
36 35 34 33 32 31
26 25 24 23 22 21
16 15 14 13 12 11
yz
xz
xy
z
y
x
D D D D D D
D D D D D D
D D D D D D
D D D D D D
D D D D D D
D D D D D D
D
9
Dr. Peter Avitabile
The [C] and [D] matrices are symmetric and
therefore only 21 constants are required to define
a material in general
(
(
(
(
(
(
(
yz
xz
xy
z
y
x
66
56 55
46 45 44
36 35 34 33
26 25 24 23 22
16 15 14 13 12 11
yz
xz
xy
z
y
x
C
C C
C C C
C C C C
C C C C C
C C C C C C
10
Dr. Peter Avitabile
Certain materials exibit symmetry with respect to
certain planes within the body so that the number
of material constants can be reduced from the
general number of 21 material constants required
for the anisotropic case.
11
Dr. Peter Avitabile
For instance, an orthotropic material can be
expressed using only 9 constants
(
(
(
(
(
(
(
yz
xz
xy
z
y
x
66
55
44
33
23 22
13 12 11
yz
xz
xy
z
y
x
C
0 C
0 0 C
0 0 0 C
0 0 0 C C
0 0 0 C C C
12
Dr. Peter Avitabile
The stress-strain relations for an orthotropic
material may be written in terms of Young's
Modulus and Poisson's Ratio as
zx
zx
zx
yz
yz
yz
xy
xy
xy
y
y
yz
x
x
xz
z
z
z
z
z
zy
x
x
xy
y
y
y
z
z
zx
y
y
yx
x
x
x
G
,
G
,
G
E E E
E E E
E E E
=
13
Dr. Peter Avitabile
Linear Isotropic Elasticity
Simpliest form of the generalized Hooke's Law
where the material is linear, elastic and isotropic
( )( )
( )
( )
( )
(
(
(
(
(
(
(
(
(
(
+
+
+

=
(
(
(
(
(
(
(
(
(
(
|
.
|
\
|

|
.
|
\
|

|
.
|
\
|

+
=
yz
xz
xy
z
y
x
yz
xz
xy
z
y
x
yz
xz
xy
z
y
x
yz
xz
xy
z
y
x
E
) 1 ( 2
E
) 1 ( 2
E
) 1 ( 2
E / 1 E / E /
E / E / 1 E /
E / E / E / 1
2
2 1
2
2 1
2
2 1
1
1
1
2 1 1
E
14
Dr. Peter Avitabile
Two Dimensional Elasticity - Plane Strain
Typically used for very long bodies where the
loading and boundary conditions do not vary in the
longitudinal direction and that there are no
displacements in the longitudinal direction. For
this case,
x
v
y
u
,
y
v
,
x
u
xy y x
=
15
Dr. Peter Avitabile
Two Dimensional Elasticity - Plane Strain
The constitutive law reduces to
( )( )
( )
( )
(
(
(
(
(
|
.
|
\
|

+
=
xy
y
x
xy
y
x
2
2 1
1
1
2 1 1
E
16
Dr. Peter Avitabile
Two Dimensional Elasticity - Plane Stress
A condition of plane stress exists when the
longitudinal direction is very small in comparison to
the other two directions with only inplane loading
considered. For this case,
0 ; 0 ); (
1
z zx yz y x z
= = = +

=
17
Dr. Peter Avitabile
Two Dimensional Elasticity - Plane Stress
The constitutive law reduces to
( )

)
(
(
(
(
(
|
.
|
\
|

xy
y
x
2
xy
y
x
2
1
1
1
1
E
18
Dr. Peter Avitabile
Elementary Plate Theory
When the thickness is small to the other two
dimensions assumed displacements can be
approximated by
) y , x ( w w ,
y
w
z ) y , x ( v v ,
x
w
z ) y , x ( u u
o o o
=
=
19
Dr. Peter Avitabile
The strain-displacement equations becomes
y x
w
z 2
y x
w
z 2
x
v
y
u
y
w
z
y
w
z
y
v
x
w
z
x
w
z
x
u
2
o
xy
2 o o
xy
2
2
y
2
2 o
y
2
2
x
2
2 o
x

=
20
Dr. Peter Avitabile
Convention is to express the stress-strain
relations as

= = =
= = = = =
2 / t
2 / t
xy xy
2 / t
2 / t
y y
2 / t
2 / t
x x
2 / t
2 / t
yz y
2 / t
2 / t
xz x
2 / t
2 / t
xy xy
2 / t
2 / t
y y
2 / t
2 / t
x x
zdz M , dz z M , dz z M
dz Q , dz Q , dz N , dz N , dz N
21
Dr. Peter Avitabile
Finite Element Types
An assortment of different element types exist
L
A, E
F F
u
i
i j
u
j
L
J, G
T T
i
i j
j
L
E, I
F F
i
i j
i

j
22
Dr. Peter Avitabile
Finite Element Types - TRUSS
Slender element (length>>area) which supports
only tension or compression along its length;
essentially a 1D spring
The truss strain is defined as
The stiffness and lumped/consistent mass matrices
L
A, E
F F
u
i
i j
u
j
dx
du
=
| | | | | |
(
=
(
=
(

=
3 / 1 6 / 1
6 / 1 3 / 1
AL m ;
2 / 1
2 / 1
AL m ;
1 1
1 1
L
AE
k
c l
23
Dr. Peter Avitabile
Finite Element Types - TRUSS
Similar to truss but supports torsion
The torsional stiffness is
L
J, G
T T
i
i j
j
| |
(

=
1 1
1 1
L
JG
k
t
24
Dr. Peter Avitabile
Finite Element Types - BEAM
Slender element whose length is much greater that
its transverse dimension which supports lateral
loads which cause flexural bending
Beam assumptions are
- constant cross section
- cross section small compared to length
- stress and strain vary linearly across
section depth
25
Dr. Peter Avitabile
The beam elastic curvature due to lateral loading
is satisfied by
The longitudinal strain is proportional to the
distance from the neutral axis and second
derivative of the elastic curvature given as
q dx / d EI
4 4
=
2 2
dx / d y =
L
E, I
F
F
i
i
j
i

j
26
Dr. Peter Avitabile
The stiffness and consistent mass matrices are
L
E, I
F
F
i
i
j
i

j
| |
(
(
(
(
=
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k
2
2 2
3
| |
(
(
(
(
=
2 2
2 2
L 4 L 22 L 3 L 13
L 22 156 L 13 54
L 3 L 13 L 4 L 22
L 13 54 L 22 156
420
AL
m
27
Dr. Peter Avitabile
The full beam stiffness matrix can be assembled
using the truss, torsion and two planar beam
elements
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
JG
L
JG
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
AE
L
AE
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
JG
L
JG
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
AE
L
AE
Z
2
Z Z
2
Z
Y
2
Y Y
2
Y
2
Y
3
Y
2
Y
3
Y
2
Z
3
Z
2
Z
3
Z
Z
2
Z Z
2
Z
Y
2
Y Y
2
Y
2
Y
3
Y
2
Y
3
Y
2
Z
3
Z
2
Z
3
Z
28
Dr. Peter Avitabile
Finite Element Types PLANE STRAIN
Element whose geometry definition lies in a plane
and applied loads also lie in the same plane
Stress-strain relations are
x x x
y y y
u
u
v
v
u
y
v
x
x
v
y
u
,
y
v
,
x
u
xy y x
= u
v
u
x / y /
y / 0
0 x /
xy
y
x
=
)
`
(
(
(
29
Dr. Peter Avitabile
Displacements in the finite element are
interpolated from nodal displacements using the
element shape function
=
)
`
M
L
L
2
2
1
1
2 1
2 1
v
u
v
u
N 0 N 0
0 N 0 N
v
u
30
Dr. Peter Avitabile
Strain displacement matrix is
The element matrices are then given by
N B where
v
u
v
u
B
v
u
v
u
N u
2
2
1
1
2
2
1
1
xy
y
x
=
=
M M
| | | | | |
| | | | | || | V B C B K
V N N M
T
V
T
V
=
=
31
Dr. Peter Avitabile
Constant Strain Triangle - Probably one of the
simplest and first of finite elements formulated
The displacement field is
given by
The resulting strain field
is given by
y x v
y x u
6 5 4
3 2 1
+ + =
+ + =
5 3 xy 6 y 2 x
, , + = = =
1
2
3
u
1
u
2
u
3
v
1
v
2
v
3
x,u
y,v
32
Dr. Peter Avitabile
Constant Strain Triangle
The strain field can be
expressed in terms of shape
functions as
1
2
3
u
1
u
2
u
3
v
1
v
2
v
3
x,u
y,v
(
(
(
3
3
2
2
1
1
2 1 1 2 1 3 3 1 3 2 2 3
1 2 3 1 2 3
2 1 1 3 3 2
xy
y
x
v
u
v
u
v
u
y y x x y y x x y y x x
x x 0 x x 0 x x 0
0 y y 0 y y 0 y y
A 2
1
33
Dr. Peter Avitabile
Linear Strain Triangle - Adding midside nodes to
the constant strain triangle provides for a
quadratic displacement field
and a resulting strain field is given by
1
2
3
u
1
u
2
u
3
v
1
v
2
v
3
x,u
y,v
4
5
6
u
4
v
4
u
5
v
5
u
6
v
6
2
12 11
2
10 9 8 7
2
6 5
2
4 3 2 1
y xy x y x v
y xy x y x u
+ + + + + =
+ + + + + =
y ) 2 ( x ) 2 (
y 2 x
y x 2
11 6 10 5 8 3 xy
12 11 9 y
5 4 2 x
+ + + + + =
+ + =
+ + =
34
Dr. Peter Avitabile
Bilinear Quadrilateral - Extending from the
triangular element to a
4 noded quadrilateral
provides for a bilinear
displacement field
1 u
1
v
1
x,u
y,v
u
4
u
2
u
3
v
2
v
3 v
4
2
3 4
xy y x v
xy y x u
8 7 6 5
4 3 2 1
+ + + =
+ + + =
y x
x
y
8 4 6 3 xy
8 7 y
4 2 x
+ + + =
+ =
+ =
35
Dr. Peter Avitabile
Bilinear Quadrilateral - Extending from the
4 noded to 8 noded quadrilateral
provides for a bilinear displacement
field
1 u
1
v
1
x,u
y,v
u
4
u
2
u
3
v
2
v
3 v
4
2
3 4
5
6
7
8
2
16
2
15
2
14 13
2
12 11 10 9
2
8
2
7
2
6 5
2
4 3 2 1
xy y x y xy x y x v
xy y x y xy x y x u
+ + + + + + + =
+ + + + + + + =
2
16 15 8
2
7 13 6 12 5 10 3 xy
16
2
15 14 13 11 y
2
8 7 5 4 2 x
y xy ) ( 2 x y ) 2 ( x ) 2 (
xy 2 x 2 y 2 x ; y xy 2 y x 2
+ + + + + + + + + =
+ + + + = + + + + =
36
Dr. Peter Avitabile
Plane Strain Constant Strain Triangle
* good in region where little strain gradient exists
* otherwise element does not behave very well
* poor element for bending applications
* not considered a good general element
Plane Strain Linear Strain Triangle
* better than the constant strain triangle
* but not a particularly good general element
37
Dr. Peter Avitabile
Plane Strain Bilinear Quadrilateral
* does not exactly model a cantilever beam
* can not model a state of pure bending very well
due to shear effects
* very stiff in bending
* bending stiffness improved through incompatible
displacement effects
Plane Strain Quadratic Quadrilateral
* good for modeling all states of constant strain
* good for modeling pure bending using
rectangular elements
38
Dr. Peter Avitabile
A general 3 dimensional solid that is relativel
unrestricted with respect to shape, loading,
material properties, boundary conditions, etc.
Displacements are interpolated from nodal
displacements from shape function
Finite Element Types 3D SOLID
(
(
(
M
L
L
L
2
2
2
1
1
1
2 1
2 1
2 1
w
v
u
w
v
u
N 0 0 N 0 0
0 N 0 0 N 0
0 0 N 0 0 N
w
v
u
39
Dr. Peter Avitabile
Strain displacement matrix is
The element matrices are then given by
N B where
v
u
v
u
B
v
u
v
u
N u
2
2
1
1
2
2
1
1
xy
x
=
=
M M
M
M
| | | | | |
| | | | | || | V B C B K
V N N M
T
V
T
V
=
=
40
Dr. Peter Avitabile
Constant Strain Tetrahedron - Extension of
constant strain triangle plain strain element to 3D
Also, Linear Tetrahedron,
Trilinear Tetrahedron and Quadratic Tetrahedron
z y 11 x w
z y x v
z y x u
12 10 9
8 7 6 5
4 3 2 1
+ + + =
+ + + =
+ + + =
1
2
3
4
1 2
3
4
5
6
7
8
41
Dr. Peter Avitabile
Classical Thin Plate Kirchoff Thin Plate
Very similar to the beam in that flexure occurs -
but in two directions. Geometry lies in the plane
with loads acting normal to the plane. A two
dimensional state of stress
exists similar to that of
plane stress with the
exception that there is a
variation of tension to
compression across the
plate thickness.
Finite Element Types PLATE
w
u=-z
w
x
w
x
w
x
x,u
w
z
42
Dr. Peter Avitabile
Governing equations are
The strain is given by
y / w z v ; x / w z u = =
y x / w z 2 x / v y / u
y / w z y / v ; x / w z x / u
2
xy
2 2
y
2 2
x
= + =
= = = =
43
Dr. Peter Avitabile
For thin plate theory, the governing partial
differential equation is given by
For an isotropic material,
( ) ( )
2 3 4
1 12 / Et / q w =
y x
w
zG 2 ;
y / w
x / w
1
1
1
E
z
2
xy
2 2
2 2
2
y
x

=
)
`

=
)
`
44
Dr. Peter Avitabile
These stresses are very much like those found in
simple beam bending. Flexural stresses vary
linearly through the thickness while transverse
shear stresses vary quadratically. The plate
moments are given by
* transverse shear deformation is neglected
* transverse shear can be significant in thick plates
(10:1 ratio applies)
* cross section is not distorted by deformation

+
= = =
2 / t
2 / t
xy xy
2 / t
2 / t
y y
2 / t
2 / t
x x
dz z M ; dz z M ; dz z M
45
Dr. Peter Avitabile
Thick Plate - Mindlin Plate
Extension of thin plate theory to account for
transverse shear deformations.
x,u
w
y,v
w
46
Dr. Peter Avitabile
Thick Plate - Mindlin Plate
Combining the displacements for thin plate with
those shown constitute the thick plate element.
* transverse shear deformation is included
* cross section does not remain the same due to
shear deformation
x
y
z v
z u
=
=
y
z
x
z
x
y
y
x
=
y yzx
x yz
x
y
xy
x
w
y
w
x y
z
+
=
|
|
.
|
\
|

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Dr. Peter Avitabile

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