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NorX-362(2o)/2

A DEFINITION OF STABLE INEASTIC MATERIAL

bV

E6 C. kueker

Technical Report N. 2
Division of WEngiring
Brown University
Providenoe, Rhode Islad

September 1957

Sponsored by
Departmsnt of the Navy
OffTic of Naval Research
Under catrect Nonr-562(20)
Task Order NR 4

Reproducrtion in whole or in part is permitted for


ru paose of the United States Ooverrnent.
I
Nonr-562(20)/2

A DEFINITION OF STABLE INIASTIC MATERIAl]


S*
D. C. Drucker (Brown University)

IAbstract
i The definitions given previously for work-hardening and perfect

plasticity are broadened to cover viscous effects. As before, the system

considered includes both the body and the time-dependent set of forces
acting upon it. An external agency is supposed to apply an additional

I set of forces to the already loaded body., It is now postulated that

the work done by the external agency on the addition displacements it

produces is positive. Some of the restrictions thus imposed on per-

i missible stress-strain relations are explored. Especial attention is

paid to simple laws of creep* Uniqueness of solution also is studied.

I
I
I
=1
1
I* The romults presented in thi-s p pr vere obtained in the course of
research ponsored by the Office of Naval Research under Contract
fonr.*56f(20) with Rrow tlnisAiVty.

I Choir"=# Division Of bV Ing.


lon,--562(20)/2 2-

VIn Introdutton
the description of material, terms such as elastic, viscous,

and plastic are employed separately or in combination as in elastic-plastic,


visco-elastic, and visco-plastic. Their meaning Is quite clear in a
qualitative sense. The difficulty lies in obtaining a broad and pbsically

valid definition of terms which will lead to a useful mathematical


Sformulation of general stress-strain relations. Any restrictions imposed

limit the class of materials which are described and so are arbitrary

to a considerable extent, In this paper and Its predecessors (I) (2)*

the restriction is to stability of material in the strict sense*

An elastic body is reversible and non-dissipative and time


independent under isotheral conditions. All work done on the body is

stored as strain energy and can be recovered on unloading. The stress-

strain curve in simple tension may have a wide variety of shapes including

the unstable portions shown in Figuze 1. If stable elastic material is

specified the drop in stress with increase in strain must be ruled out

explicitly.
Plasticity denotes irreversibility and permanent or residual

L strain upon unloading. In the narrow but convenient terminology of the


Smathematical theory of plasticity, time independence of material properties
is understood despite the frequent use of terms such a,3 strain rate aM

1' velocitys Time alvays enters homogeneously in all equAtions of statics.

A given loading path producei the same deforations rmzardless of the

I actval time history of the loadings Figure 2 gives possible sizple tension
curves for a material combi linear elasticity and workihardening

plasticity. Tho phenomenon of the upper yield point in mild steel is

I -mbers in parentbeas refer to the abiograpty at the er of the


p*aor.
Nonr'-562(2o)/2 --

a convincing demawtration of the fact that instability of material in the


mechanical sense is encounter ed in the physical world. A gradually falling P
stress-strain curve likewise is a physical possibility although not found

in structural metals when actual rather than nominal stress is plotted.

If stable elastic-plastic material is specified, therefore, the drop in 7

stress must be ruled out explicitly.


Time effects are present to soe extent in all real materials.

When the stress-strain curve is affected significantly by the rate of

loading or more generally by the time history of the loading, where tim

enters in an essential manner, the iscosity or the modifier visco-

is used. The idealization known as linear visco-elasticity may be


visualized in terms of combinations of linearly elastic springs and

Newtonian dashpots, Figure 3. Non-linearity of the springs and the


dashpots poses no conceptual difficulty nor does the inclusion of elastic-

plastic, "spring" elements. Falling stress-strain curves are easily pro- i


duced by a simple time history in the most elementary Kelvin or Maxbwll

models. Instability now has a more obscure meaning and certainly must
if involve time. For example, a falling curve on a plot of stress versus
strain-rate for a Maxwell type raterial would denote viscous instability, I

* Figure 3.

Previous Postulate_ for-Elastic and flastiao Materials.


A tundalnta defiion has been advanced previously for a

- stable elastic or Vork-huidenin t m i1 ndfnt materia (i) (2)0

Comider a body of uh ater at re stated upon by a set ofbuay

tractions and b* forces p Fre 4*- An external soncy is


J .mpoafl to add slowly a set of martte tractiats ATj &M-d bo4 fore
fl~The dislacaauts of theo b tfld chutwoe "as or*i #1
Nonr-.52.20)/2 -4-

and equilibrium is maintained* It was postulated that the work done by


the external agency during the application of force ust be positive and

over a cycle of application and removal# positive or zero, zero only when

purely elastic changes take place. In such a cycle, work cannot be

extracted from the system of the body and the set of forces acting

upon it. Materials following this postulated behavior are st;able. A


falling stress-strain curve in simple tension is ruled out as is far more

complicated behavior which normally might not be considered as unstable.

Despite the severity of the definition, the consequerces do seem in accord

with all xistirg intuitive concepts.


The implications or consequences of the fundamental definition

are remarkably strong for the mathematical theory of plasticity. The


yield or subsequent loading surface f(oy) - 2 which separates states
of stress which can be joined by a purely elastic path from those requirin

elastic-plastic action, Figure 5, must be convex. Furthermore, as shown,


the plastic strain increment or strain "rate" mist be normal to the surface

at a smooth point eij - Xaf/*ij or lie between the outward normals to

adjacent points at a corner.

Both convexity and normality had been postulated long before

(3) (4) and it is certainly valid to question the value of replacing

one set of postulates by another. One answer is that it is desirable to

have the saallest number of postulates. A better statement, perhaps, is

that ftdwavtal definitions have any specific implications beyorA those

of imadiate use, Dixrect, eperiental study and theoretic4al Ooosderation

of a baic postuIate form the basis of unlited tuture applicatimo


On th other hand, it "ould be ren bred that the do, of stAl
t-ninds~pe~nt mteria is a de~fion a#M not a lsv of natur, %tW#~b
uat~~~~~rJ~~~~ls~
i. id o~I lo ro~i1 -~ syatema of te-
Nonr.562(20)/2

Coulomb type do not follow the postulate (5). A sub-class of materials,

therefore, is specified ar the problem reduces to how well particular

solids are described.

An Extended Postulate or Definition

The absence of time effects in the mathematical theory of

I elasticity and plasticity is not matched in the physical world (6).

Bodies under constant load will creep, bodies under constant deformation

J will relax. For many structural metals at working temperatures the

time effects are small enough to be ignored in practical applications

and the previous postulate is adequate. Howver, all metals at elevated


temperatures and most materials at room temperature display appreciable

time effects. A modified and broadened postulate, therefore, is required.

I ~When time or viscous effects are appreciable, it is no longer


true that the work done by an external agency need be positive. Spring

elements as in Figure 3 generally will contain energy which can be extracted

j from the system. A body under constant load usually does not maintain

an unchanged configuration. Application of additional force to an already

Jloaded body by an external agency is accompanied by a change in the dis-

placement history, partly due to the existing force system and partly

produced by the external agency. Figure 4 may now be reinterpreted.


Figure 4m shows the surface tractions Ti and body forces Fj. ich

are functions of time. The displacements ui, the stresses cij, and
the strains cij are likewise functions of time. Figure 4b shows the

existine system plus the xternal agency and the ccbined effeet. The
added surface tractions ATi and the added be forces AFi also vary
I with time as do the chage~s in dipUcent, stress, anA strain auj,

6Aaip Asijf wioh M fro the lotion of U. externAl W-noy


onrumS(2o)12 -6.

superposed on the existing set of forces*' Except for the very special

fully linear case, it will not be true that, ATi and AF1 acting alone

(Ti = 0, Fi = 0) would cause Aui, Aaij, A6 1jo It is Ti + ATi and

Fi +tAF wbioh procuce u1 + U , aij + A a lj , J +A i j. all of which


i

are functions of time.

i A fundamental definition of a stable inelastic (elaste-visc-


plastic) witerial can now be stated:

The work done by the external- -ancy on the chne


in_diSlacements it roduces must be positive or zeros,

It is seen itmediately that the previous postulate is included in this


broader one because no change in displacement takes place in an elastic-

11 workhardening material at constant load.

The definition may be put in mathematical form as

Ptc Ifr
If {AT AiuidA + JAF AuidV~ dt >0[I
ilwhere the dot indicates derivative with respect to time$ and t -0 is
the instant of time at wbich the external agency begins to apply force.

The sumuation convention is followed for repeated subscripts in the same

term, for example AT:1,A = AT. Au, + ATV A + AT, and, for later
uses Clj tij OX -X + ay 87 + az St + Ix "fY + , Yz + or Yz

in the usual notation.

It is sometimes more inst-awtive to think of two alternative


patbsofioad.ig (T) an1 F:2) which diverge at t o,

Figure 6, Each w produce us ,


7Its a ij* T de ti than

has the xathmatical fore

I
Nonr-562(2O)/2

tt {) (2) T l)] (2) dA)

fj ] ui -U dA

+ 4 F 1(I f 1] dV dt > 0

which is really identical to [L]. It has the advantage of focussing


attentL ,, on the meaning of the incremental quantities and the type of

stability which is postulated.

Stability in the -Large and S1all - Permissibility of Path


i l : : . m..
... . ',,, - :- EA MU
MMII

Sitability in the large and stability in the small correspond


respectively to t. unrestricted and to tc limited to the immediate

neighborhood of t = 0. As has been stated the requirement of stability

is an arbitrary one in a sense, The requirement that the tensile stress-


strain curve for an elastic-plastic body be a continuously rising one
(complete stability) is not of real consequence when the stress point

is on a portion of the curve which rises and small (infinitesimal) changes

in stress are examined (stability in the small).


There is a further choice involved within each classification

of stability. Any path labelled (1) in Figure 6 may be permitted or


instead Ti ) and F(l) may be restricted to constant values, their
J values at t = 0, It must be kept in mind always that inelastic
materials are irreversible and not all paths are permissible paths in

general. For example, at t = to the system will be at A if it follows


j path (1) and at B if it follows path (2)v With few exceptions. a straigbt
line path from A to B,. Tjnj w (f) M1), F 1 F (1 +

~j2 41>,with a gdingfrom 0 to 1$ wiflnotchbange the

State At (1) to the cUte at (2)* PsUrthenmre, no nelchborins path to


Nonra..562(ZO)/2 -8-

the straightlizwj will exist which is capable of giving the same final state

B. In fact for the most general materials there Is no available path what-

soever from (1) to (2); path (2) is the only waty of prxducing the state

of the material at B.

In view of the irreversibility there is no clear decision to

be made on how much stability to require. Stability in the small with

path (1) restricted to the point corresponding to t = 0 wuld seem

essential. The generalized definition without restriction, or stability

of material in the complete sense, seems desirable. Some of its consequences

will be explored in what follows.

Stress-strain Relations

The conaequences of the basic postulate with respect to stress-


strain relations are strongest and seen most easily for a homogeneous system

whose mass or kinetic energy can be neglectedo Surface tractions, body

forces, and velocities in Inequality [ 2] then can be replaced by stresses

ij and strain rates tij througb the theorem of virtual work. For any

continuous u

ii Ti1. dA + J(,1 Vd 31
(S I

f where Ti, F', crJ are any set of equilibrium values and u j, ja

any compatible set (7). There need be no relation between the equilibrium
(2 )
i ~ ~~2) 1)frT
Ti
and the comptible sets. Substitution of T - Ti :'or '

for Ui, etc., in the virtual work expressiom [3] thus is permissible
(2- (2) (- alone will not prouce

"i - u i Integration over the volume can be omitted for a homogeneous


I ) "z
Nonr-56Z9.(20)/29-

state of stress and strain with the result

J f=0
taj (2) " ")]j
(2)" ( j iJ)]% t am [4

in the neighborhood of t = 0 the stresses and strain rates

can be expanded in a power series for each of the paths (i) anM (2), the

subscript zero denoting the value at t = o.

] t +a t 2/ oo
a0

ij]
=BJ 0 +
SiJ ajjajj 0 ij /2 +,e
ij t 2j]+
/2 00
0 00
ei j)0+ jt+0 &jt 4 /+

The two paths are identical up to so that stress and strain are
t=0
the same at t=0 (2) and 6 ]o o Time deriva-
ij 0
h a tO i, i 0
tives of these quantities need not be the same so that strain rates and

stress rates may differ. For to very close to t = 0, Inequality (4]

gives

*(2)(2) (l)
+(a. () .(2) () (210(2

+ i
aj-c0+ij 10 ai a ij -o iij 0iJ %o

+ ..0. >0 [61

As to may be made varishingly small, it is necessary that,


(2 ((2) 0(1)
[ij - ij ii ij . o
Nonr-5962 (20 )/2 _C

*(2) "(l)
If, however, "iJj
-iJ then it is necessary that

(2) "() '(2) 00(l)


] e
(a -a Ii:I >0 (8]
ij ij 0 ij j

This process may be continued to higher and higher time derivatives of

strain and of stress as weii if ;(2) ;(1), etc. The general requi:re-
ij iJ
ment in the sense of [7] and [8] is
(m(2) m() n (2) n (1)
8tm - - 0 tn 8atn o -9]
at at

with m and n each > 1. Inequality [9] insures stability in the

small in the broad sense.

If a j is restricted to remain constant at a ] as time

goes or, for the more restricted definition of stability in the small [7]

and (8] are replaced by

*(2) .(2) .( )Jo


aj
ii JO ij " eij _.0 [0

10
. (2)(10

i. j 0o[]

For time independent materials the (1) terms disappear conipletely leaving
. .
the earlier result ijeij > 0.

Return now to stability in the large and to tbe dependent

mterials. If the path OA of Figure 6 is traversed very rapidly and

then the system remains at A, and a similar time history holds for

path OB, the fundamental postulate in the form- [14] requires

B A B .A
(i ")
ij )(ij ii -
j Nonr-.,2(20)/2 -11-

In general, the strain rates ei and ij will depend, of course,

upon this specially selected time history. Here the distinction between

j the broad and narrow delinition of stability does not arise because the

path OAB traversed with extreme rapidity gives the same state point B

f as path OB, for materials which need time to deform.

Hwny special paths may be considered but their treatment will

be deferred• Specific results for plasticity, linear visco-elasticity,

and creep will be discussed next.

Consequences for Plasticity

As has been mentioned, the previous postulate for time-


~(1.)
independent material, with a held constant has strong implications
in plasticity. All yield and subsequent loading surfaces f(&3j. cj

I history of loading) = k 2 must be convex. The plastic strair rate vector

"p must be normal to the surface in stress space, Figure 5, in the


extended sense. At a smooth point of f =I, for A 0 or--

I an outward pointing a~ which produces plastic deformation*

Gji au Oum
mn [13]

3 where G may be a function of stress, strain, and the prior history


.
of loading. It may also depend upon the stress rate aij. Time is

not truly relevant so that G must be homogeneous of order zero in (,

e~,,G [1+a r )2
9en

IThe broader definition in this paper, of stability in the amall,

restricts G still more. It is permissible to deal with plastic strain

I
No r-562(2o)/2 -12-

rates only and substitution in Inequality [7] gives

[ f ") ... .(1)] G()


,, (2). o(1) .(O (14
aa l al 'J
Baaf
[ o 2 a - [
i - kJ6u--

The magnritude of the stress rate is arbitrary and can be chosen to give

a constant value of the coaponent ij normal to the yield or


oa
loading surface. Suppose this is done for each pair (i) and (2)

so that the left bracket of (14] is zero. The bracketed expression

containing G(l) and G(2) then must likewise be zero. If not, a very
small increase or decrease in the magnitude of ij or the opposite
"ot op t
for cij will violate Inequality [14]. Therefore, (2) G( ) or

G is independent of aij* The stress-strain relation [13] thus is

restricted to linearity in the increments or rates of stress and strai

All incremental stress-strain relations now in use are linear or are


combinations of linear forms as a matter of convenience. Although no

'IT nre-conceived notions are upset, it is of great interest and possibly

of value to know that a single postu.1;te or definition leads inevitably


IT to all the main features of plastic stress-strain relations.

Stability in the small alone was employed in this application

Iof the postulate, but stability in the large is needed for convexity.

As stated before, there is always the possibility that stabill.ty in the

large with the new postulate may be more restrictive than is reasonable

1 on physical grounds for all paths of loading in all materials.

Consequences for Linear Visco-elsticity


A linear visco-elastic material may be defined in terms of

Smodels, Figure 3, with linear springs and dashpots in combinatioa (8).

An equivalet deftx tion my be Civen by ow or more differential equations


-onr-562(2o)/2 - -

in which time derivatives of arq order may appear but stress and strain

enter linearly. The difference between two solutions of such equations

Is a solution as well. Therefore, if stress state and history a(1)


9(l) (2) "(2) ij
produce and stress state and history aij produce '(J
4(2) . (1) *(2) *(l)
iJ 0, will give e - Sij A stable linmar viscoelastic material
according to definition as expressed by the basic Inequality (4] must
obey

• =0 ci j e i j dt > 015

This is no surprise at all as it is simply a statement that


work must be done on an unstressed and unstrained viscoelastia material

in o-der to deform it. Any combination of linear springs and dashpots

t thus provides a stable material. Although the result is not unexpected,

it is comforting to know that the implications of the broadened definition


are in accord with physical intuition.

ConseqLuences for Cree

ie sNon-linearity is the rule rather than the exception in inelastic


materialse The creep of metals in particular is markedly non-linear.

Consider now a Maxwell type material, Figure %which deforms indefinitely


under constant load. The elastic response can be ignored in discussing

the viscous. Suppose that, for convenience and for reasonable agree-

I
ment with actual behavior, the viscous strain rate

of stress alone.
*iJ
ii
is a function

As the existing state of stress determL-es the strain


0(2 (2)
rate, the stress rate has no imnediate influence; [ci) i(
izi
in Inequality (7] is automatically zero at sny instant of time when

two paths of loading diverge. Inequalty (8] for stability in the snf,

hovevr, does provid, a nonatrivial nstriottn& on thbe oewV strain ationo


Nonrs562(20)/2 el4e

Stability in the large gives far more spectacular and useful results.
Referring to Inequality [12], the restriction on the path or time

stn4 4 14 '+amA o V >0 appli4es to

any two stress states at ar time because c is supposed to depend upon


A
a alone and so is not path dependent. In particular, aA may be chosen

as the stress free state and the result is

B 3B
S J =>i) - 0 (16]
ij ij

or the rate of doing work is always positive. As the strain rate is

viscous, and, therefore, dissipative, this too is an obvious result where-

as (12] is not.
The restrictions on stress-strain relations in creep imposed

by [12] and (16] are strong and may be extored for each special

case. In pictorial terms as shown in Figures 7, 8, the strain rat vector


B ,B
makes an acute angle with the stress vector, 04 4 4 > O; the incrememt

in strain rate for any stress path is in the direction of the change in
stress (OBj atj )(sij _> 0.

jSuppose,for example, that it is possible to write

eta=aij
7" where (p is a function of the existing state of stress only. The surfaoe

= conrtant in stress space then bears some pictorial resemblance to the

yield suface in plasticity. The strain rate vector is normal to the


surface, As illustrated in Figure 8a, a stress path tangential to the
surface at one point cannot intersect the surface at another point. If

r it did, equality (12] vold be viaate4 vbmalty therefore lead*

to conveity of the surfa* m tant, Norality in the extended


Nonr-562(20)/2 -15-

sense, as at a corner of such a surface likewise requires convexity if

[12] is to te satisfied, Figure 81b

,kcomnon assumption for creep in simple tension (not necessarily

in accord with the actual physical behavior) is that the strain rate is

proportional to some power n of the stress (9). A generalization of

this hypothesis is to choose p in [17] as a homogeneous function of

stress of degree n + l. Substituting in (16], the rate of doing work

or rate of dissipation is from Euler's theorem on homogeneous functions

W(aij) - £n =l = (lp (18]

Under these conditions p = constant is a surface in stress space of

constant rate of dissipation of energy. TLerefore W constant defines

a convex surface in stress space. 0

The additional assumption of isotropy requires W to be a

ftnction of the stress invariants, for example; the sum of the principal
stresses J and the invariants J2j = 1 sjk si of
21 sij sivJ :5 JsksiO
the stress deviation tensor sij, (10). Considerable discussion of convex

homogeneous functions of stress with these invariants has been given in

papers on plasticity (10)(11) and need. not be repeated here. As an

example, the requirement of convexity restricts the constant c in

(n+l)2 = W -= W3 - to no more than 2.25*

Uniaueness of Solution to Equilibriui Broundar Value Problems (12)(13)


Consider a body at time t - 0 whose state at each point can

be specified completely as, for example, the initial unstressed and


unstrained condition. Suppose surface tractions Ti are specified on

the portion of the surface ii, diaplacements u on the remaining

I
Nonr-562(20)/2 -j6-

portion Au, and body forces Fj throubhout the volume V, each given

as a fumction of time. The question of uniqueness concerns the possibility

of tio (or more) solutions 1 and n for the interior stresses, strains,

and displacements or any of their time derivatives.

Assume that two equilibrium solutions do exist which satisfy the

boundary conditions. Substitute their difference in the equation of virtual

work [3] Just as in the description following Equation [3]. The general

result is that tae left hand side is always zero and for any order of tim

derivative of stress and strain

0-J [a S m j M
a~Oj
i 2) " C3' M GiJ
1)
] [ jan &t
"MM
ii(2) (1) ]
an. 6j dV [19]1
[9

which is reminiscent of Inequality '[9] except that here the notation

is meant to include the zero order as i.e.


,ell#

(2) (1) (2) (2) " () " ] ' etc.


[cit J " ij ( , [ () (). (2) am(1)I

ij o
(2)= =in napai
Uniqueness the sense of ~ .or= or
(2.()~ 8 tm ii at m

at nn (1) is assured if the integrand of [19] is positive.


8t
_n ij
Just as in the special case of plasticity, a discussion of uniqueness in j
ouch great generality cannot be more specific (13). Any lack of uniqueness

which may be present in the stress-strain relation appears here as well*

With this understanding the term uniqueness will be used without qualification

in the following.

Reference to Inequality [7] shows that stability in the small

guarantees uniqueness of ai, or 4 j at each instant of time. If e

i3 dependent on a and not is nequalty [8] takes over and rj

or u:j are shki~n directly to be uiqueo This type of consideration is


Nonr-562 (20)/2 -l?-

of importance in the study of dynaic problems in which mass or inertia

cannot be neglected. If needed, this process can be continued to any term

of Inequality ( 9.. The initial state and the complete history of loading,

there.fore, determine the stress and the strain uiquely throughout any

body composed of inelastic material obeying the definition of stability

in the small.

It might be expected that stability in the large guarantees

uniqueness of stress independent of the path of loading* This is true

for any material undergoing the rapid loading type of path described for

Inequality [ 12]. It also is true for those stable materials following

any creep law in which the strain rate depends upon the stress only because

they too most obey Inequality ( 12 1. It is not true for most materials.

Certainly the fundamental definition does require that if a

path exists from A to B, Figure 6, the work done by the external agency

on the change in displacements it produces must be positive or zero,


j (aij-oA)(sij-iA) dt> 0. However, in general the integral bears little
A
or no relevance to the virtual work term (a i - A) whose positive-

ness assures uniqueness. Prthermore, no path AB is a permissible one

in the general case.

All of the emphasis so far has been on equilibrium problems. Mass

and kinetic energy have been ignored, although velocity and acceleration

terms are finite. Aa wil be seen, the inclusion of dynamic terms does not

affeet the conclusions to be draun and, in fact, makes les demands on the

stress-strain relations, Hoiogeneous states f strers and strain me not

appropriate and tha steps uhich lead to Inequaty (4] Cive instead the
ffonr-562(20)/2 -18-

more inclusive

fto (r2) (1)3 ;(2)C (2b d2 d+

where the second term is the value of the v~olume integral at t o minus

the value at the time of divergence of paths, t = O. If the external

agency applies load slowly, the acceleration ui is the same for the

two paths (1) and (2), Figure 6. Necessarily, in all cases the velocity

(2) throughout the volume is the same as ( at tO andthe


1

second term of [20] is positive or zero at all times t 0 The Inequality

I [ 4] is much more significant, therefore, than (20].

! , Conclusions

A single postulate or definition is ad-vanced 'or 01 stable in-


elastic -ateriase Its im.licatiiis are far reachings In plasticity

V theory, which is a particii.arly well-explored subjec#t, the conrcepts of

convexity, normality, and incremental linearity all are consequences of


the definition. An interesting result also is obtained for a generalization
I@
of the simple tension creep law 6 = KA The mirface of -onstant rate of

dissipation for the special case is convex and e is nozial to it just as

r for the yield surface in plasticity. Hwever, non-liyar= viscous behavior

coupled with elastic and plastic action is an almcst unknown field. .ich

F more must be done before the value of the postulate cw be determined.


Stability in the large is an especially troublesome point. Nevertheless,

Kthe uniqueness of solution assured by the definition is a good indication

of its acceptability as a startin point.


Nom, 562 (20)/2 -

Bibliogrsh,
(1) "Soe Implications of Work Hardening and Ideal Plasticity" by
D. C. Drucker, Quarterly of Applied Mathematics, vol. 7, no. 4.,
January 1950, pp. 411-418.
(2) "AMore Fundamental Approach to Plastic Stress-Strain Relations"
by D, C, Drucker, Proceedings of the First National Congress of
Applied Mechanics, ASME, 1951, pp 487-491.
(3) 'echanik der plastischen Formanderung von Kristallen" by R. v. Mises,
ZAMZ, vol. 8, 1928, pp. 161-185.
(4) "Recent Developments in the Mathematical TheorI of Plasticity" by
W. Prager, Journal of Applied Physics, vol. 20, 1949, pp. 235-241.
(5) "Coulomb Friction, Plasticity, and Limit Loads" by D. C. Drtuker, Jounal
of Applied Mechanics, v0o 21, Trem. ASME, vol. 76, 1954, PP. 71-74.
(6) "Rheology Theory and Applications, Volume I", Edited by F. R. Eirich,
Academic Press, New York, 1956.

(7) "Theory of Perfectly Plastic Solids" by W. Prager and P. G, Hodge, Jr.,


John Wiley and Sons, New York, 1951.
(8) "Mechanical Properties of High Polymers" by T. Alfrey, interscience,
New York, 1948.

(9) "Recent Advances in Theories of Creep of Engineering Materials" by


F. K. G. Odquist, Applied Mechanics Reviews, vol. 7, no. 12, 1954,
Pp. 517-519. Refers to work of Bailey, Hoff and Main among others.

(10) "Strain Hardening under Combined Stresses" by W, Prager, Journal of


Applied Phsics, vol. 16, 1945, PP. 837-840.

(11) "Some Extensions of Elementary Plasticity Theory" by F. Edelman and


D. C. Drucker, Journal of the Franklin Institute, vol. 251, 1951,
pP* 581-6c5.
(12) "The Mathematical Theory of Plasticity" by R. Hill, Oxford University
Press (1950).

(of (13) "On Uniqueness in the Theory of Plasticity" by Dc C. Drucker, Quarterly


Applied Y~thematics; vol. 14, 1956, pp. 35-42.
ApleImhmtc p
I
I
Nonr 362(20)/2

440

FIGURE 1. AN ELASTIC MATERIAL (REVERSIBLE): CURVE


RISING TO THE RIGHT O'E>O

UNSTABLE

FIGURE 2. AN ELASTIC-PLASTIC MATERIAL (TIME-


I INDEPENDENT): RISING CURVE ol>0
Nonr 62(20)/2

iii- rT
KELVIN MAXWELL
OR
VOIGT

FIGURE 3. VISCOELASTIC MODELS

Ti Ti + AT i

Fi + AF;

u i , O'ij eij ui+l' u i , Orij+acfij , eij+Af.ij

ta) (b)

FIGURE 4. EXISTING SYSTEM (a) AND EXISTING SYSTEM


PLUS EXTERNAL AGENCY (b)
Nowr 562(20)/2 4022-

YIELD OR

SURFACE II

FIGURE 5. THE FUNDAME~tA7L DEFINITION REQUIRES


CONVEXITY AND NORMALITY IN
PLASTICITY

2)

(AVpF

FIGURE 6. PATHS OF LOADING. (Arrows join points


of the some time)
Nonr 562(20)12 0023-

OF PATH

(I PAT H

FIGURE 7. [(' a.. 0 0 0

Ii ei
Ai

PERMMISSIBLE

(~) (b)

FIGURE 8. (a)NORMALITY, ao:/a~rip AND INEQUALITY [121

REQUIRES CONVEXITY. (b) A CORNER ALSO IS PERMISSIBLE


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