CHAP 1 STRESS-STRAIN ANALYSIS

FINITE ELEMENT ANALYSIS AND DESIGN

Nam-Ho Kim

1
 STRESS
• Stress
– Fundamental concept related to the safety of a structure
– Often used as criteria for mechanical design
– Internal force created by deforming the shape against external loads.

F
F  KL

L L

– Linear elasticity: the relation between internal force and deformation is

linear. 2
 SURFACE TRACTION f 1
F

• Surface traction (Stress) n

– The entire body is in equilibrium with external P

A
forces (f1 ~ f6) f2

– The imaginary cut body is in equilibrium due to f3

external forces (f1, f2, f3) and internal forces
– Internal force acting at a point P
f6
on a plane whose unit normal is n:
f1
f5
F
T (n)  lim
A 0 A

f2 f4
– The surface traction depends on the unit
normal direction n. z f3
– Surface traction will change when n changes. y
x
– unit = force per unit area (pressure)
T(n)  Txi  Ty j  Tzk T(n)  T  Tx2  Ty2  Tz2
3
 NORMAL AND SHEAR STRESSES
• Normal and shear stresses
– Decompose T(n) into normal and tangential components
sn normal stress stress component parallel to n
tn shear stress stress component perpendicular to n

n  T (n )
n T(n)
n
(n) 2 n
T   2
n
2
n

n P
(n) 2
n  T  n2 What if T(n) and n are in
the same direction?

• Practice Example 1.2 in the textbook

4
 CARTESIAN STRESS COMPONENTS
– Surface traction changes according to the direction of the surface.
– Impossible to store stress information for all directions.
– Let’s store surface traction parallel to the three coordinate directions.
– Surface traction in other directions can be calculated from them.
– Consider the x-face of an infinitesimal cube

T( x )  Tx( x ) i  Ty( x ) j + Tz( x )k

Dx
F  Fxi  Fy j  Fzk
Dz
T ( x )   xxi   xy j   xzk txz
z DF
 Fx
  lim
 xx A x 0 A s xx t xy
 x
Dy
 Fy x y
  xy  lim
A x 0 A
 x
 Fz
  xz  lim
A x 0 A
 x
5
 CARTESIAN COMPONENTS cont.
– First index is the face and the second index is its direction
– When two indices are the same, normal stress, otherwise shear
stress.
– Continuation for other surfaces.
– Total nine components
– Same stress components are defined for the negative planes.
Comp. Description
sxx Normal stress on the x face in the x dir.

syy Normal stress on the y face in the y dir.

zz
szz Normal stress on the z face in the z dir. x

txy Shear stress on the x face in the y dir. zx zy

z
tyx Shear stress on the y face in the x dir. xz yz
z F
tyz Shear stress on the y face in the z dir.
xx xy yx yy
tzy Shear stress on the z face in the y dir.
y
Shear stress on the x face in the z dir. x y
txz
6
 CARTESIAN COMPONENTS cont.
• Sign convention
– Positive when tension and negative when compression.
– Shear stress acting on the positive face is positive when it is acting in
the positive coordinate direction.

sgn( xx )  sgn(n)  sgn( Fx )

sgn( xy )  sgn(n)  sgn( Fy )

• Example

7
 STRESS TRANSFORMATION
– If stress components in xyz-planes are known, it is possible to
determine the surface traction acting on any plane.
– Consider a plane whose normal is n.
nx 
  y
n  nxi  ny j  nzk  ny 
  B
nz 
n
 zz T(n)
– Surface area (ABC = A) zx
PAB  Anz ; PBC  Anx ; PAC  Any xz

xx zy
xy P yz A x
yx
T surface
(n )
– The Tx i  Ttraction
(n )
y j  Tz k
(n ) (n )

yy
z C

 F x  T x A   xx Anx   yx Any  zx Anz  0

(n)

– Force balance (h → 0)
Tx( n )   xxn x   yxn y   zxnz
8
 STRESS TRANSFORMATION cont.
• All three-directions
Tx(n )   xxnx  yx ny  zxnz
Ty(n )   xynx   yy ny  zynz
Tz(n )  xznx  yzny  zznz

  xx  yx  zx 
• Matrix
( n ) notation
 
T  [ ]  n [ ]    xy  yy  zy 
  yz  zz 
 xz

– [s]: stress matrix; completely characterize the state of stress at a point

• Normal
n  Tand
(n)
 nshear
 n  [ ]components
n {n} T [ ]{n}
2
n  T (n)  n2

9
 SYMMETRY OF STRESS TENSOR
– Stress tensor should be symmetric
9 components 6 components yx
– Equilibrium of the angular moment A B
y
 M  l( xy   yx )  0
O x
xy l xy
  xy   yx

l
– Similarly
xy   yxfor all three directions: C D
yx
yz  zy  xx 
 
xz  zx  yy    xx  yx zx 
 zz   
{ }    [ ]    xy  yy zy 
  yz    yz zz 
   xz
– Let’s use vector notation:  zx 
  xy 

10
 PRINCIPAL STRESSES
– Can it be possible to find planes that have zero shear stresses?
– Normal stress = principal stress
– Normal direction = principal direction
– Extreme values (max or min) of stress at the point
– Three principal stresses and directions.
– Stress vector (T(n)) // normal vector (n)

T ( n )   nn n and sn are unknown

sn : principal stress
n: principal direction
[ ]  n  nn
Eigenvalue problem
 []  n [I]   n  0
xx  n yx zx  nx  0
     What would
 xy yy  n zy  ny   0 be the
     
zz  n  nz  0
solution?
 xz yz
11
 PRINCIPAL STRESSES cont.
– n = 0 satisfies the equation: trivial solution
– Non-trivial solution when the determinant is zero.

 xx  n  yx zx
xy  yy  n zy 0
xz yz  zz  n

– Expanding the determinant equation:

I1   xx   yy  zz
n3  I1n2  I2n  I3  0 I2   xx  yy   yy zz  zz  xx  2xy  2yz  2zx
I3   xx  yy zz  2xy yz zx  xx 2yz  yy zx
2
 zz 2xy
– I1, I2, I3: invariants of the stress matrix [σ], which are independent of
coordinate systems.
– Three roots: principal stresses, 1  2  3

12
 PRINCIPAL DIRECTION
– Calculate principal direction using principal stress.
– Substitute each principal stress at a time.

  xx  1  yx zx  n1x  0 
  1  
  xy  yy  1  zy  ny   0 
       n1  0 
 xz yz zz 1  z   

– Since the determinant is zero (i.e., the matrix is singular), three

equations are not independent.
– An infinite number of solutions exist.
– Need one more relation to uniquely determine n.
2
ni  (nix )2  (niy )2  (n iz )2  1, i  1,2,3

– Infinite solutions mean the same direction with different magnitude.

We select the one that has unit magnitude

13
 PRINCIPAL DIRECTION cont.
– Planes on which the principal stresses act are mutually perpendicular
– Let’s consider two principal directions ni and nj, with i ≠ j.

[]  ni  ini
[]  n j   jn j

– Scalar products i usingj n iand n ,

j i
n  []  n  in  n
j

ni  []  n j   jni  n j

(i   j )ni  n j  0
– Subtract two equations,

ni  nj  0, when i  j
– Since two principal stresses are different,
14
 PRINCIPAL DIRECTION cont.
• There are three cases for principal directions:
1. σ1, σ2, and σ3 are distinct  principal directions are three unique
mutually orthogonal unit vectors.
2. σ1 = σ2 and σ3 are distinct  n3 is a unique principal direction, and
any two orthogonal directions on the plane that is perpendicular to n3
are principal directions.
3. σ1 = σ2 = σ3  any three orthogonal directions are principal directions.
This state of stress corresponds to a hydrostatic pressure.

n3

15
 COORDINATE TRANSFORMATION
– When [σ]xyz is given, what would be the components in a different
coordinate system x′y′z′ (i.e., [σ]x′y′z′)?
– Unit vectors in x′y′z′-coordinates:
y
y x
 b11  b12  b13 
     
b1  b12  , b 2  b 22  , b3  b32 
b1  b 2  b3  2
b b1
 3  3  3
3
x
b
b1
 {b1
, b1
, b1
3 } coordinates,
– b = {1, 0, 0} 1 in2x′y′z′
1 T
z
while in xyz coordinates z
– the rotational transformation matrix
 b11 b12 b13 
 
[N]  [b1 b 2 b 3 ]  b12 b 22 b 32 
b13 b32 b 33 
 

16
 COORDINATE TRANSFORMATION cont.
– [N] transforms a vector in the x′y′z′ coordinates into the xyz
coordinates, while [N]T transforms a vector in the xyz coordinates into
the x′y′z′ coordinates. y
y x
– Consider bx′y′z′ = {1, 0, 0}T:
 b11  1
  b2 b
b1xyz  [N]  b1x ' y ' z '  b12  x
b1  b3
 3
z
z
– Stress transformation:
1 2 3 Using stress vectors,
[T (b ) T (b ) T (b ) ]xyz  []xyz [b1 b2 b3 ]  [] xyz [N]

– By multiplying [N]T the stress vectors can be represented in the x′y′z′

coordinates [  ] xyz  [N] T
[  ] xyz [N]

– The first [N] transforms the plane, while the second transforms the 17
 MAXIMUM SHEAR STRESS
– Important in the failure criteria of the material
– Mohr’s circle

– maximum shear stress
1  3 max
max 
2
3 2 1 
– Normal stress
at max shear stress plane
1  3
n 
2

18
 What Stress Could Be Design Criteria?
– It must be independent of the coordinate system.
– Stress Invariants
– Principal Stresses
– Maximum Shear Stress

19
 Homework #2
2. Direction nx:ny:nz = 3:4:12. Determine T(n), magnitude of T(n),
normal stress sn, shear stress tn, angle between T(n) and n.
13 13 0 
[]  13 26 13 
 
 0 13 39 

4. If sxx = 90, syy = −45, txy = 30, and szz = txz = tyz = 0, find T(n),
sn, and tn. yy
xy
n xy
xx xx
xy 40o

xy
yy

20
 Homework #2
7. Determine the principal stresses and their associated
directions, when the stress matrix at a point is given by

1 1 1
[ ]  1 1 2 MPa
 
1 2 1

8. Let x′y′z′ coordinate system be defined using the three

principal directions obtained from Problem 7. Determine the
transformed stress matrix [σ]x′y′z′ in the new coordinates
system

21
 STRAIN
• Strain: a quantitative measure of deformation
– Normal strain: change in length of a line segment
– Shear strain: change in angle between two perpendicular line segments
• Displacement of P = (u, v, w)
• Displacement of Q & R
u u
uQ  u  x uR  u  y
x y
v v
vQ  v  x vR  v  y R'
x y
w w
wQ  w  x wR  w  y Q'
x y P'(x+u,y+v,z+w)
R

y Dy
Dx
P(x,y,z) Q
x

z
22
 STRAIN
– Strain is defined as the elongation per unit length

Duy

Dy

P Dx P
Dux

ux ux
 xx  lim  Textbook has different, but
– Tensile (normal) x 0 x in x-
strains xand y-directions
uy uy more rigorous derivations
 yy  lim 
y 0 y y

23
 SHEAR STRAIN
– Shear strain is the tangent of the change in angle between two
originally perpendicular axes
Dux
uy
1  tan 1 
x q2
ux Dy
2  tan 2  p/2 – g12
y q1 Duy
P
Dx

uy ux uy ux

– Shear xystrain
 1 (change
2  limof angle)
 lim  
x 0 x y 0 y x y

1 1  u u 
 xy   xy   y  x 
2 2  x y 

24
 STRAIN MATRIX
– Strain matrix and strain vector
 xx 
 
 xx  xy  xz   yy 
   zz 
[]   yx  yy  yz  { }   
   yz 
 zx  zy  zz   
 zx 
  xy 
nn  n  []  n

– Normal component: [ ]xyz  [N]T [  ]xyz [N]

[ ]  n  n
–  max 1  3
Coordinate transformation:

– Principal strain: 2 2
– ε1 ≥ ε2 ≥ ε3
– Maximum shear strain:
• Will the principal direction of strain be the same as that of 25
 STRESS VS STRAIN

[] is a symmetric 3×3 matrix [] is a symmetric 3×3 matrix

Normal stress in the direction n is Normal strain in the direction n is

nn  n  [  ]  n nn  n  [ ]  n
Transformation of stress Transformation of strain

 ]xyz  [N
Three [mutually ]T [  ] xyz [N]
perpendicular Three[mutually
]xyz  [Nperpendicular
]T []xyz [N]
principal directions and principal principal directions and principal
stresses can be computed as strains can be computed as
eigenvalues and eigenvectors of eigenvalues and eigenvectors of
the stress matrix as the strain matrix as

[  ]  n  n [  ]  n  n

26
 STRESS-STRAIN RELATIONSHIP
• Applied Load shape change (strain) stress
• There must be a relation between stress and strain
• Linear Elasticity: Simplest and most commonly used
• Uni-axial Stress:
– Axial force F will generate stress   F / A
zz
– In the elastic range, the relation between stress and strain is

zz  E zz

F F

– Reduction of cross-section
 xx   yy   zz

– E: Young’s modulus, : Poisson’s ratio 27

 UNI-AXIAL TENSION TEST

Ultimate
stress Fracture

Yield stress

Proportional
limit


Strain Necking
Terms Explanations hardening
Proportional limit The greatest stress for which stress is still proportional to strain
Elastic limit The greatest stress without resulting in any permanent strain
Yield stress The stress required to produce 0.2% plastic strain
Strain hardening A region where more stress is required to deform the material
Ultimate stress The maximum stress the material can resist
Necking Cross section of the specimen reduces during deformation
Fracture Material failure
28
 LINEAR ELASTICITY (HOOKE’S LAW)
• When the material is in the Proportional Limit (or Elastic Limit)
• In General 3-D Relationship
{ }  [C]  {}

xx   C11 C12 C13 C14 C15 C16   xx 

  C   
 yy  C22 C23 C24 C25 C26  yy 
 21 
zz  C31 C32 C33 C34 C35 C36   zz 
{}   , [C]    , { }    
 yz  C41 C42 C43 C44 C45 C46   yz 
  C51 C52 C53 C54 C55 C56   
  zx
   zx 
 xy  C61 C62 C63 C64 C65 C66    xy 

Stress-Strain Matrix

– For homogeneous, isotropic material 36 constants can be reduced to 2

independent constants.
29
 LINEAR ELASTICITY (HOOKE’S LAW) cont.
• Isotropic Material:
– Stress in terms of strain: { }  [C]  { }

 xx  1       xx 
  E     

 yy   1   
 1     1  2     yy 
     1     

 zz     zz 
 xy  G xy ,  yz  G yz , zx  G zx

Shear Modulus
 xx   1     xx 
– Strain
 in1 terms
 of stress  

 yy    1  E
E    yy  G
     1    2(1   )

 zz     zz 
xy yz 
 xy  ,  yz  ,  zx  zx
G G G

30
 DEGENERATION TO 2D
• Plane Strain Problem
– 3D engineering problems are often simplified to 2D problems
– Deformation in z-dir is constrained
– Strains in z-dir are zero
 zz  0,  xz  0,  yz  0
 xx  1    0   xx 
  E     
{ }   yy   1  0  yy 
 
  (1   )(1  2 )  0  
0 2      xy 
1
  xy  

y y Normal stress in z-dir

E
x x  zz 
(1   )(1  2 )
  xx   yy 
Plane strain model

z
31
 DEGENERATION TO 2D cont.
• Plane Stress Problem:
– Plate-like structure under in-plane loads fy
– No constraints in thickness dir
– Stresses in z-dir are zero

 zz   xz   yz  0
y fx
– Stress-strain relation x
 xx  1  1    xx 
       xx  1  0   xx 

 yy  E   1   yy     
E  1 
{ }   yy   0 
 1   2    yy 
 zz   ( xx   yy )   0 0  
2 (1   )   xy 
1
E   xy 
xy
 xy 
G
 yz   zx  0

32
 EQUILIBRIUM EQUATIONS
• Equilibrium Relation (2D)  yy y
dy
2

 yx y
dy
  xx yx 2

  0 y  xy dx
 x y x
2
  xx dx  xx dx
 xy   yy  0
x x
2 x 2
 x y  xy x
dx
2
 yx dy
• Equilibrium Relation (3D) y
2

 yy y
dy
  xx yx zx 2
   0
 x y z
  xy  yy zy
   0
 x y z
   yz zz
 xz
  0
 x y z
33
 BOUNDARY-VALUE PROBLEM
• When boundary conditions are given, how can we calculate
the displacement, stress, and strain of the structure?
– Solve for displacement
Applied
loads

{} = [C] {}

Boundary
condition

– Equilibrium equation
– Constitutive equation (Stress-strain relation)
– Strain definition 34
 FAILURE THEORIES
• Materials fail because the stress exceed the strength
→ Need to specify the exact stress type to determine failure
→ Design Criteria
• Material failure
→ Ductile materials (metals): yield stress
→ Brittle materials (ceramics): ultimate stress, fracture
• Materials don’t fail by changing volume (inter-atomic distance)
• Shear stress (distortion of shape) is related to material failure.

• Two Categories: stress-based and energy-based

35
 STRAIN ENERGY
• Force Deformation Stress Stored Energy
• Strain Energy Density:U0  1  
2
E
• 3-D situation:U  1 (        )
0 1 1 2 2 3 3
2 i 
• Use principal stress-strain relation

 1
 1 E ( 1   2  3 )
 
U Strain energy

 1

 2  (  2  1  3 ) i 
 E
 1
 3 E ( 3  1   2 )
 

• Strain Energy Density: 1 2

U0  1  22  32  2(12  23  13 )
2E
in terms of principal stresses
36
 DECOMPOSITION OF ENERGY
• Hydrostatic Stress (Volumetric stress)
– Hydrostatic pressure does not contribute to failure
– Thus, subtract the volumetric strain energy from total strain energy.
– Hydrostatic pressure: same for all directions

1  2  3 xx  yy  zz

h  
3 3
– Strain energy density caused by sh:
1 3 (1  2 ) 2
Uh  h2  h2  h2  2(hh  hh  hh )  h
2E 2 E

2
3 (1  2 )  1  2  3 
Uh 
2 E  3 

1  2 2
 1  22  32  2(12   23  1 3 )
6E

37
 DECOMPOSITION OF ENERGY cont.
• Distortion Energy Density

Ud  U0  Uh
1  2
  1  22  32  12  2 3  13 
3E
1  2
  VM
3E
Von Mises Stress

 1  2    2  3    3  1 
2 2 2

VM 
2

This energy contributes to material failure

38
 DISTORTION ENERGY THEORY
• Von Mises (1913)
– Material fails when the distortion energy reaches a certain level.
– Material yields in the tensile test when sxx = sY, and all others are zero
– Distortion energy when the material yields in tensile test

1  2
Ud  Y
3E

– In general stress status, the material yields when the distortion energy
is greater than that of the tensile test at yielding:
1  2 1  2
 VM  Y
3E 3E

– Without
  VM calculating
 Y distortion energy, just compare the von Mises
stress with yield stress of the tensile test:
39
 DISTORTION ENERGY THEORY cont.
– 3D stress status

(  xx   yy )2  ( yy   zz )2  ( zz   xx )2  6( 2xy  2yz  2zx )

 VM 
2

 VM  12  22  32  12  2 3  13


– 2D   2

1 s 1
VM (when     2

3 = 0)
2 2

VM  2xx  2yy  xxyy  32xy

40
 DISTORTION ENERGY THEORY cont.
• Example: Pure Shear Problem
– s1 = t = –s3 and s2 = 0 t

– straight line through the origin at –45º t t

s3 s1
    11    3  3
2
Y
2
1
2
1
2
1
2

Y -t
  1   0.577 Y
3
s3  Y  12  13  32
1  3

A Safe region

s1

B Material failure

41
 MAX SHEAR STRESS THEORY
• Tresca (1864)
– Material fails when the max. shear stress exceeds the shear stress in
a tensile specimen at yield.
– In tensile test, s1 = sY, s2 = s3 = 0: s2, s3 t s1
– Y   3 
Y  max  1  Y  Y
2 2 2
– Tresca theory is more conservative than the distortion energy theory
Safe region
s3

Failure in max. shear stress theory

Safe in distortion energy theory

C Pure shear problem

s1
Y
  1  3 
D 2

42
 MAX PRINCIPAL STRESS THEORY
• Rankine
– Material fails when the principal stress reaches some limit on normal
stress such as tensile yield stress or ultimate tensile stress.
– This theory frequently used for brittle materials.

1  U
Distortion energy theory
s2

s1

Principal stress theory

43
 SAFETY FACTOR
– For design purposes it is convenient to include a chosen safety factor
N so that the stress will be safely inside the failure-stress envelope.
– In many engineering applications, N = 1.1 – 1.5.
– Safety factor in the distortion energy theory:

Y
NVM 
VM

– safety factor in the maximum shear stress theory:

  /2
N  Y  Y
max max

NVM  N
– Note:
Y 
 Y
 VM max
44