CHAP 3

FEA for Nonlinear Elastic Problems

Nam-Ho Kim

Introduction
• Linear systems
– Infinitesimal deformation: no significant difference between the
deformed and undeformed shapes
– Stress and strain are defined in the undeformed shape
– The weak form is integrated over the undeformed shape
• Large deformation problem
– The difference between the deformed and undeformed shapes is
large enough that they cannot be treated the same
– The definitions of stress and strain should be modified from the
assumption of small deformation
– The relation between stress and strain becomes nonlinear as
deformation increases
• This chapter will focus on how to calculate the residual
and tangent stiffness for a nonlinear elasticity model

2
 Introduction
• Frame of Reference
– The weak form must be expressed based on a frame of reference
– Often initial (undeformed) geometry or current (deformed)
geometry are used for the frame of reference
– proper definitions of stress and strain must be used according to
the frame of reference
• Total Lagrangian Formulation: initial (undeformed)
geometry as a reference
• Updated Lagrangian Formulation: current (deformed)
geometry
• Two formulations are theoretically identical to express
the structural equilibrium, but numerically different
because different stress and strain definitions are used

Table of Contents
• 3.2. Stress and Strain Measures in Large Deformation
• 3.3. Nonlinear Elastic Analysis
• 3.4. Critical Load Analysis
• 3.5. Hyperelastic Materials
• 3.6. Finite Element Formulation for Nonlinear Elasticity
• 3.7. MATLAB Code for Hyperelastic Material Model
• 3.8. Nonlinear Elastic Analysis Using Commercial Finite
Element Programs
• 3.9. Fitting Hyperelastic Material Parameters from Test
Data
• 3.9. Summary
• 3.10.Exercises
4
 3.2
Stress and Strain Measures

Goals – Stress & Strain Measures

• Definition of a nonlinear elastic problem

• Understand the deformation gradient?

• What are Lagrangian and Eulerian strains?

• What is polar decomposition and how to do it?

• How to express the deformation of an area and volume

• What are Piola-Kirchhoff and Cauchy stresses?

6
 Mild vs. Rough Nonlinearity

• Mild Nonlinear Problems (Chap 3)

– Continuous, history-independent nonlinear relations between
stress and strain

– Nonlinear elasticity, Geometric nonlinearity, and deformation-

dependent loads

• Rough Nonlinear Problems (Chap 4 & 5)

– Equality and/or inequality constraints in constitutive relations

– History-dependent nonlinear relations between stress and strain

– Elastoplasticity and contact problems

What Is a Nonlinear Elastic Problem?

• Elastic (same for linear and nonlinear problems)
– Stress-strain relation is elastic
– Deformation disappears when the applied load is removed
– Deformation is history-independent
– Potential energy exists (function of deformation)
• Nonlinear
– Stress-strain relation is nonlinear
(D is not constant or do not exist)
– Deformation is large
• Examples
– Rubber material
– Bending of a long slender member
(small strain, large displacement)
8
 Reference Frame of Stress and Strain
• Force and displacement (vector) are independent of the
configuration frame in which they are defined (Reference
Frame Indifference)
• Stress and strain (tensor) depend on the configuration
• Total Lagrangian or Material Stress/Strain: when the
reference frame is undeformed configuration
• Updated Lagrangian or Spatial Stress/Strain: when the
reference frame is deformed configuration
• Question: What is the reference frame in linear
problems?

Deformation and Mapping

• Initial domain :0 is deformed to :x
– We can think of this as a mapping from :0 to :x
• X: material point in :0 x: material point in :x
• Material point P in :0 is deformed to Q in :x

x Xu x )( X, t) X  u( X, t)

displacement )
:x
:0 u
Q
P

X x

), ) 1 : One-to-one mapping
Continuously differentiable
10
 Deformation Gradient
• Infinitesimal length dX in :0 deforms to dx in :x
• Remember that the mapping is continuously differentiable

wx :x Q'
dx dX Ÿ dx Fd X P'
wX :0
dX
u dx
Q
P

• Deformation gradient:
wxi wu 1 [Gij ],
Fij F 1 1  ’0 u
wXj wX w w
’0 , ’x
– gradient of mapping ) wX wx
– Second-order tensor, Depend on both :0 and :x
– Due to one-to-one mapping: det F { J ! 0. dX F 1dx
– F includes both deformation and rigid-body rotation
11

Example – Uniform Extension

• Uniform extension of a cube in all three directions
x1 O1X1 , x2 O2X2 , x3 O3X3

• Continuity requirement: Oi ! 0 Why?

• Deformation gradient: ª O1 0 0º
F «0 O2 0 »»
«
«¬ 0 0 O3 »¼

• O1 O2 O3 : uniform expansion (dilatation) or contraction

• Volume change
– Initial volume: dV0 dX1dX2dX3
– Deformed volume:
dVx dx1dx2dx3 O1O2O3dX1dX2dX3 O1O2O3dV0

12
 Green-Lagrange Strain
• Why different strains?
2 2
• Length change: dx  dX dxT dx  dXT dX
dXT FT FdX  dXT dX
dXT (FT F  1)dX

Ratio of length change

• Right Cauchy-Green Deformation Tensor

C FT F
• Green-Lagrange Strain Tensor dx
dX
1
E (C  1) The effect of rotation is eliminated
2

To match with infinitesimal strain

13

Green-Lagrange Strain cont.

• Properties:
– E is symmetric: ET = E
1 § wui wuj ·
Hij ¨  ¸¸
– No deformation: F = 1, E = 0 2 ¨© wXj wXi ¹

1 § wu wuT wuT wu ·
E ¨   ¸
2 © wX wX wX wX ¹
Displacement gradient
2 
1 ’ u  ’ uT  ’ uT ’ u
0 0 0 0 
Higher-order term

– When ’ 0 u  1 , E|
1
2
’ 0 u  ’ 0 uT  

– E = 0 for a rigid-body motion, but  z 0

14
 Example – Rigid-Body Rotation
• Rigid-body rotation
x1 X1 cos D  X2 sin D
x2 X1 sin D  X2 cos D D
x3 X3

• Approach 1: using deformation gradient

ª cos D  sin D 0 º ª1 0 0º
« sin D cos D 0 » FT F «0 1 0»
F « » « »
«¬ 0 0 1 »¼ «¬ 0 0 1 »¼

E 1 (FT F
2
 1) 0

Green-Lagrange strain removes rigid-body rotation from deformation

15

Example – Rigid-Body Rotation cont.

• Approach 2: using displacement gradient
u1 x1  X1 X1 (cos D  1)  X2 sin D
u2 x2  X2 X1 sin D  X2 (cos D  1)
u3 x3  X3 0
ª cos D  1  sin D 0 º
’0 u « sin D cos D  1 0 »
« »
«¬ 0 0 0 »¼

ª 2(1  cos D) 0 0º
’ 0 uT ’ 0 u « 0 2(1  cos D ) 0 »
« »
«¬ 0 0 0 »¼

E 1 (’ u  ’ 0 uT  ’ 0 uT ’ 0 u) 0
2 0
16
 Example – Rigid-Body Rotation cont.
• What happens to engineering strain?
u1 x1  X1 X1 (cos D  1)  X2 sin D
u2 x2  X2 X1 sin D  X2 (cos D  1)
u3 x3  X3 0

ª cos D  1 0 0º
H « 0 cos D  1 0 »
« »
«¬ 0 0 0 »¼

Engineering strain is unable to take care of rigid-body rotation

17

Eulerian (Almansi) Strain Tensor

• Length change: dx 2  dX
2
d x T d x  d XT d X
d x T d x  d x T F  T F 1 d x
dxT (1  F T F 1 )dx
dxT (1  b1 )dx

• Left Cauchy-Green Deformation Tensor

b F FT b–1: Finger tensor

• Eulerian (Almansi) Strain Tensor

1
e (1  b 1 )
2
Reference is deformed (current) configuration

18
 Eulerian Strain Tensor cont.

• Properties
– Symmetric
wu
– Approach engineering strain when  1
wx
– In terms of displacement gradient

1 § wu wuT wuT wu · w
e ¨   ¸ ’x
2 © wx wx wx wx ¹ wx
1
2
 ’x u  ’x uT  ’ x uT ’ x u  Spatial gradient

• Relation between E and e

E FT eF

19

Example – Lagrangian Strain

• Calculate F and E for deformation in the figure
• Mapping relation in :0
­ 4
3
°X
°
¦ NI (s, t)XI 4
(s  1) Y
Deformed element
I 1
® 4
2.0
° 1
°Y ¦ NI (s, t)YI 2
(t  1)
¯ I 1 1.0
Undeformed
element
• Mapping relation in :x X
0.7 1.5

­ 4
° x(s, t)
°
¦ NI (s, t)xI 0.35(1  t)
I 1
® 4
°
° y(s, t) ¦ NI (s, t)yI s 1
¯ I 1
20
 Example – Lagrangian Strain cont.
• Deformation gradient
:x Q'
wx wx ws P'
F :0 u dx
wX ws wX dX Q
P
ª 0 .35 º ª 4 / 3 0 º
«1 0 »¼ «¬ 0 2 »¼
¬ x(s ,t )
ª 0 0.7 º X(s ,t )
«4 / 3 0 »¼
¬ Reference
domain (s, t)

• Green-Lagrange Strain
1 T ª 0.389 0 º Tension in X1 dir.
E (F F  1) « 0
2 ¬ 0.255 »¼ Compression in X2 dir.

21

Example – Lagrangian Strain cont.

• Almansi Strain
ª 0.49 0 º
b F ˜ FT « 0
¬ 1.78 »¼

ª 0.52 0 º
e 1
2  1  b1  « 0 0.22 »¼
Compression in x1 dir.
Tension in x2 dir.
¬
• Engineering Strain
ª 1 0.7 º
’0 u F  1 « »
¬ 1.33 1 ¼
ª 1 0.32 º
H 1
2  ’0 u  ’0 uT  « 0.32 1 »
Artificial shear deform.
Inconsistent normal deform.
¬ ¼
Which strain is consistent with actual deformation?

22
 Example – Uniaxial Tension
• Uniaxial tension of incompressible material (O1 = O!)
• From incompressibility x1 O1X1
O1O2O3 1 Ÿ O2 O3 O 1/2 x2 O2X2
x3 O3X3
• Deformation gradient and deformation tensor
ªO 0 0 º ª O2 0 0 º
« » « 1
»
F «0 O 1/2
0 » C « 0 O 0 »
«0 1/2 » «0 0 O 1 »
¬ 0 O ¼ ¬ ¼
• G-L Strain
ª O2  1 0 0 º
1« 1
»
E « 0 O  1 0 »
2« 1 »
¬ 0 0 O  1 ¼
23

Example – Uniaxial Tension

• Almansi Strain (b = C)

ª O 2 0 0º ª 1  O 2 0 0 º
« » 1« »
b1 « 0 O 0» e 0 1  O 0
2« »
« 0 0 O »¼ « 0 0 1  O »¼
¬ ¬

• Engineering Strain
ªO  1 0 0 º
« »
H « 0 O 1/2  1 0 »
10%
strain
« 0 0 O 1/2  1 »¼
¬
• Difference
1 2 1
E11 (O  1) e11 (1  O 2 ) H11 O 1
2 2 24
 Polar Decomposition

• Want to separate deformation from rigid-body rotation

• Similar to principal directions of strain

• Unique decomposition of deformation gradient

F QU VQ

– Q: orthogonal tensor (rigid-body rotation)

– U, V: right- and left-stretch tensor (symmetric)

• U and V have the same eigenvalues (principal stretches),

but different eigenvectors

25

Polar Decomposition cont.

dx Q ˜ U ˜ dX F VQ
V ˜ Q ˜ dX
e1 e3

Q e2 V
 3 e3
E3  1 e1

E1 E2 3E3  2 e2
U
2E2 Q
1E1

F QU
• Eigenvectors of U: E1, E2, E3
• Eigenvectors of V: e1, e2, e3
• Eigenvalues of U and V:O1, O2, O3 26
 Polar Decomposition cont.
• Relation between U and C
U2 C U C
– U and C have the same eigenvectors.
– Eigenvalue of U is the square root of that of C
• How to calculate U from C?
• Let eigenvectors of C be ) [E1 E2 E3 ]
• Then, / )T C) where
ª O12 0 0º
« » Deformation tensor in
/ «0 O22 0» principal directions
«0 0 O23 »¼
¬

27

Polar Decomposition cont.

Useful formulas
• And U ) /) T
3
C ¦ Oi2Ei … Ei
i 1
ª O1 0 0º 3

/ «0
« O2 0 »» U ¦ OiEi … Ei
i 1
«¬ 0 0 O3 »¼ 3
Q ¦ ei … Ei
i 1
3
• General Deformation b ¦ Oi2ei … ei
dx Fd X  b QUdX  b i 1
3
1. Stretch in principal directions V ¦ Oiei … ei
2. Rigid-body rotation i 1
3
3. Rigid-body translation F ¦ Oiei … Ei
i 1 28
 Generalized Lagrangian Strain
• G-L strain is a special case of general form of Lagrangian
strain tensors (Hill, 1968)

Em
1
2m

U2m  1 

29

Example – Polar Decomposition

X2, x2
• Simple shear problem
2
­ x1 X1  kX2 k
° 3
® x2 X2
°x X3
¯ 3 X 1, x 1
ª1 kº
• Deformation gradient F «0 1 »
¬ ¼
ª1 k º ª 1 2 º
• Deformation tensor C T
F F « » « 3
»
¬ k k 2
 1 ¼ «¬ 2 7
3
»¼
3

• Find eigenvalues and eigenvectors of C X2 E1

E2
O1 3, O2 13 60o
X1
E1  1
2 2
3
, E2  2
3 1
2 
30
 Example – Polar Decomposition cont.
ª3 0 º
• In E1 – E2 coordinates C c / «0 1 3»
¬ ¼
ª 1 2  3 2º
• Principal Direction Matrix ) [E1 E2 ] « »
«¬ 3 2 1 2 »¼

• Deformation tensor in principal directions

/ )T ˜ C ˜ )
• Stretch tensor
ª 3 0 º
/ « »
«¬ 0 1 3 »¼
ª 32 12 º
U )˜ / ˜) T
« »
¬« 1 2 5 2 3 ¼»
31

Example – Polar Decomposition cont.

• How U deforms a square?
X2, x2
­1 ½ ­ 3 2½ ­0 ½ ­ 12 ½
U˜® ¾ ® ¾ , U ˜ ® ¾ ® ¾
¯0 ¿ ¯ 1 2 ¿ ¯1 ¿ ¯ 5 2 3 ¿

• Rotational Tensor
30o X 1, x 1
1
ª 32 12 º
Q F˜U « »
«¬  1 2 3 2 »¼
X2, x2
­ 3 2½ ­1 ½ ­ 12 ½ ­ 1.15 ½
Q˜® ¾ ® ¾ , Q ˜ ® ¾ ® ¾
¯ 1 2 ¿ ¯0 ¿ ¯ 5 2 3 ¿ ¯ 1 ¿
– 30o clockwise rotation
30o
T
ª5 3 6 12 º X 1, x 1
V F˜Q « »
¬« 1 2 3 2 ¼»
32
 Example – Polar Decomposition cont.
• A straight line X2 X1 tan T will deform to
X1 x1  kx2 , X2 x2
X2, x2
Ÿ x2 (x1  kx2 ) tan T
Ÿ x1  tan1 T  k  x2
• Consider a diagonal line: T = 45o
25o
x2 1 X1, x1
tan D D 24.9q
x1 1  k
X2, x2

• Consider a circle
X12  X22 r2 X1, x1
(x1  kx2 )2  x22 r2
x12  2kx1x2  (1  k2 )x22 r2 Equation of ellipse
33

Deformation of a Volume
• Infinitesimal volume by three vectors
– Undeformed: dV0 dX1 ˜ (dX2 u dX3 ) erstdXr1dXs2dXt3
– Deformed: dVx dx1 ˜ (dx2 u dx3 ) eijk dxi1dxj2dxk3

dVx eijk dxi1dxj2dxk3

§ wx · § wxj · § wx · dX2 dx2
eijk ¨ i dXr1 ¸ ¨ dXs2 ¸ ¨ k dXt3 ¸
¹ ¨© wXs ¸ © wXt dX1
© wXr ¹ ¹ dX3
dx3
dx1
wx wxj wxk
eijk i dXr1dXs2dXt3
wXr wXs wXt
erstJ dXr1dXs2dXt3
JdV0
From Continuum Mechanics

J det F O1O2O3 eijk air ajs akt erst det a

34
 Deformation of a Volume cont.
• Volume change
dVx J dV0

• Volumetric Strain
dVx  dV0
J 1
dV0

• Incompressible condition: J = 1
• Transformation of integral domain

³³³: x
f d: ³³³: 0
fJ d:

35

Example - Uniaxial Deformation of a Beam

• Initial dimension of L0×h0×h0 deforms to L×h×h

x1 O1X1 O1 L / L0 L0
x2 O2X2 O2 h / h0
x3 O3X3 O3 h / h0
h0
• Deformation gradient h0

ª O1 0 0º J det F O1O2O3
F «0 O2 0 »» 2 L
« L § h · LA
h
«¬ 0 0 O3 »¼ L0 ¨© h0 ¸¹ L0A0
h

• Constant volume
L0 L0
J 1 Ÿ h h0 A A0
L L
36
 Deformation of an Area
• Relationship between dS0 and dSx
NdS0 dX1 u dX2 NdS
i 0 eijk dXj1dXk2
ndSx dx1 u dx 2 nrdSx erstdxs1dxt2

wXj wXk 1 2
NdS
i 0 eijk dxsdxt
wxs wxt

wXi wXi wXi wXj wXk 1 2

u NdS eijk dxsdxt
wxr wxr i 0 wxr wxs wxt
F(X)

N n
dX2 dx2
X dS0 x dS
x
S0 dx1 Sx
dX1

Undeformed Deformed
37

Deformation of an Area cont..

• Results from Continuum Mechanics
wxr wxs wxt
eijk F erst
wXi wXj wXk

1 wXi wXj wXk

erst F eijk .
wxr wxs wxt

nrdSx
• Use the second relation:

wXi wXi wXj wXk 1 2 1

NdS eijk dxsdxt erst F dxs1dxt2
wxr i 0 wxr wxs wxt

ndSx JF T ˜ NdS0 T F T ˜ N
n&F ˜N Ÿ n
F T ˜ N

dSx J F( x) T N( X) dS0
38
 Stress Measures
• Stress and strain (tensor) depend on the configuration
• Cauchy (True) Stress: Force acts on the deformed config.
'f
– Stress vector at :x: t lim Vn
'Sx o 0 'Sx
Cauchy Stress, sym

– Cauchy stress refers to the current deformed configuration as a

reference for both area and force (true stress)
Undeformed configuration Deformedconfiguration

f
N
S0
P Sx
P n

39

Stress Measures cont.

• The same force, but different area (undeformed area)

'f
T lim PT N
'S0 o 0 'S0 First Piola-Kirchhoff Stress
Not symmetric

– P refers to the force in the deformed configuration and the area

in the undeformed configuration
• Make both force and area to refer to undeformed config.

df VndSx PT NdS0 ndSx JF T ˜ NdS0

df V(JF T NdS0 ) PT NdS0

P J F 1 V : Relation between V and P

40
 Stress Measures cont.
• Unsymmetric property of P makes it difficult to use
– Remember we used the symmetric property of stress & strain
several times in linear problems
• Make P symmetric by multiplying with F-T
1
S P ˜ F T J F 1 ˜ V ˜ F  T V F ˜ S ˜ FT
J
Second Piola-Kirchhoff Stress, symmetric
– Just convenient mathematical quantities
• Further simplification is possible by handling J differently

W JV F ˜ S ˜ FT

Kirchhoff Stress, symmetric

41

Stress Measures cont.

• Example
³³³: x
V : H d: x ³³³: 0
V : HJ d : 0 ³³³: 0
W : H d: 0

Integration can be done in :0

• Observation
– For linear problems (small deformation): H | E | e
– For linear problems (small deformation): V | W | P | S
– S and E are conjugate in energy
– S and E are invariant in rigid-body motion

42
 Example – Uniaxial Tension
F
• Cauchy (true) stress: V11 , V22 = V33 = V12 = V23 = V13 = 0
A
• Deformation gradient:
L0
ª O11 0 0 º
« »
F 1 « 0 O21 0 », J 1
« 0 0 O31 »¼ h0
¬
h0
• First P-K stress
F 1 F A F L
P11 (JF 1 V11
A O1 A A0 A0 h
h
• Second P-K stress F

F 1 F A2 FA F
S11 (JF 1 ˜ V ˜ F T )11 No clear physical
A O12 A A02 A02 A0 O1 meaning

43

Summary
• Nonlinear elastic problems use different measures of
stress and strain due to changes in the reference frame
• Lagrangian strain is independent of rigid-body rotation,
but engineering strain is not
• Any deformation can be uniquely decomposed into rigid-
body rotation and stretch
• The determinant of deformation gradient is related to the
volume change, while the deformation gradient and
surface normal are related to the area change
• Four different stress measures are defined based on the
reference frame.
• All stress and strain measures are identical when the
deformation is infinitesimal
44
 3.3
Nonlinear Elastic Analysis

45

Goals
• Understanding the principle of minimum potential energy
– Understand the concept of variation
• Understanding St. Venant-Kirchhoff material
• How to obtain the governing equation for nonlinear elastic
problem
• What is the total Lagrangian formulation?
• What is the updated Lagrangian formulation?
• Understanding the linearization process

46
Numerical Methods for Nonlinear Elastic Problem
• We will obtain the variational equation using the principle
of minimum potential energy
– Only possible for elastic materials (potential exists)
• The N-R method will be used (need Jacobian matrix)
• Total Lagrangian (material) formulation uses the
undeformed configuration as a reference, while the
updated Lagrangian (spatial) uses the current
configuration as a reference
• The total and updated Lagrangian formulations are
mathematically equivalent but have different aspects in
computation

47

Total Lagrangian Formulation

• Using incremental force method and N-R method
– Total No. of load steps (N), current load step (n)
n 1
f n
f  'fn
• Assume that the solution has converged up to tn
• Want to find the equilibrium state at tn+1
Lastconvergedconfiguration
Undeformed configuration (known)
Currentconfiguration
(known) n:
(unknown)
0: nu nP n+1:
0P
u
n+1P

X x
Iteration

48
 Total Lagrangian Formulation cont.
• In TL, the undeformed configuration is the reference
• 2nd P-K stress (S) and G-L strain (E) are the natural choice
• In elastic material, strain energy density W exists, such
that
wW
stress
wstrain

• We need to express W in terms of E

49

Strain Energy Density and Stress Measures

• By differentiating strain energy density with respect to
proper strains, we can obtain stresses
• When W(E) is given
wW(E)
S Second P-K stress
wE
• When W(F) is given
wW wW wE wW
: F˜ F˜S PT First P-K stress
wF wE wF wE
• It is difficult to have W(H) because H depends on rigid-
body rotation. Instead, we will use invariants in Section
3.5

50
 St. Venant-Kirchhoff Material
• Strain energy density for St. Venant-Kirchhoff material
W(E) 1E :D:E
2 Contraction operator: a : b aijbij

• Fourth-order constitutive tensor (isotropic material)

D O1 … 1  2PI
QE E
– Lame’s constants: O P
(1  Q)(1  2Q) 2(1  Q)

– Identity tensor (2nd order): 1 [Gij ]

1 (G G  GilG jk )
– Identity tensor (4th order): Iijkl 2 ik jl

I:a a, 2nd-order sym. a

1: a tr(a) aii a11  a22  a33

– Tensor product: a…a aijakl (4th-order)

51

St. Venant-Kirchhoff Material cont.

• Stress calculation
– differentiate strain energy density
wW(E)
S D:E Otr(E)1  2PE
wE
– Limited to small strain but large rotation

E 1 (FT F
2
 1) 1 ( UT Q T Qu
2
 1) 1 ( U2
2
 1)

– Rigid-body rotation is removed and only the stretch tensor

contributes to the strain
– Can show S wW wW
2
wE wC
Deformation tensor

52
 Example Y

• E = 30,000 and Q = 0.3 2.0

Deformed element

• G-L strain: ª 0.389 0 º

E « 0
¬ 0.255 »¼ 1.0
Undeformed
element
• Lame’s constants: 0.7 1.5
X

QE E
O 17,308 P 11, 538
(1  Q)(1  2Q) 2(1  Q)

• 2nd P-K Stress:

ª1 0º ª .389 0 º
S Otr(E)1  2PE O(.389  .255) « »  2P « 0
¬0 1 ¼ ¬ .255 »¼
ª 11,296 0 º
« 0 3,565 »¼
¬

1 ª 1, 872 0 º
V FSFT « 0
J ¬ 21, 516 »¼ 53

Example – Simple Shear Problem

X2, x2
• Deformation map
x1 X1  kX2 , x2 X2 , x3 X3

ª1 kº 1 T 1 ª0 k º
F «0 1 » E (F F  1) « »
¬ ¼ 2 2 ¬ k k2 ¼
X1, x1

• Material properties
QE E
O 40MPa P 40MPa
(1  Q)(1  2Q) 2(1  Q)
20
• 2nd P-K stress Cauchy
10
ª k2 2k º
Shear stress

S Otr(E)1  2PE 20 « » MPa 2nd P-K

2
¬« 2k 3k ¼»
0

1 ª 5k2  3k 4 2k  3k3 º -10

V FSFT 20 « » MPa
J «¬ 2k  3k3 3k2 »¼
-20
-0.4 -0.2 0.0 0.2 0.4
Shear parameter k 54
 Boundary Conditions
• Boundary Conditions
u g, on *h Essential (displacement) boundary

t PT N, on * s Natural (traction) boundary

You can’t use S

• Solution space (set)

# ^ u u  [H1 (:)]3, u *h g `

• Kinematically admissible space

' ^ u u  [H1 (:)]3, u *h
0 `

55

Variational Formulation
• We want to minimize the potential energy (equilibrium)
3int: stored internal energy
3ext: potential energy of applied loads

3( u) 3int ( u)  3 ext ( u)
³³: 0
W(E) d:  ³³
:0
uT fb d:  ³ s uT t d*
*o

• Want to find u ‰ # that minimizes the potential energy

– Perturb u in the direction of  ‰ ' proportional to W
uW u  Wu
– If u minimizes the potential, 3(u) must be smaller than 3(uW) for all
possible 

56
 Variational Formulation cont.
• Variation of Potential Energy (Directional Derivative)
d
3( u, u ) 3( u  Wu ) We will use “over-bar” for variation
dW W 0
– 3 depends on u only, but 3 depends on both u and 
– Minimum potential energy happens when its variation becomes
zero for every possible 
– One-dimensional example

3(u)

At minimum, all directional

derivatives are zero
 u 

57

Example – Linear Spring

k u
f

• Potential energy: 3(u) 1k ˜ u2  f ˜ u

2

• Perturbation: 3(u  Wu) 1k

2
˜ (u  Wu)2  f ˜ (u  Wu)
d
• Differentiation: ª 3(u  Wu) º¼ k ˜ (u  Wu) ˜ u  f ˜ u
dW ¬
• Evaluate at original state:
d
ª 3(u  Wu) º¼ k ˜u˜u  f˜u 0
dW ¬ W 0

Variation is similar to differentiation !!!

58
 Variational Formulation cont.
• Variational Equation
wW(E)
3( u, u )
0 wE ³³:
: E d:  ³³ u T fb d:  ³ s u T t d* 0
:0 *o

for all  ‰ '

– From the definition of stress

³³: 0
S : E d: ³³: 0
u T fb d :  ³ s u T t d *
*o

Variational equation in TL formulation

– Note: load term is similar to linear problems

– Nonlinearity in the strain energy term
• Need to write LHS in terms of u and 

59

Variational Formulation cont.

• How to express strain variation
E( u) 1 (C
2
 1) 1
2  ’0 u  ’0 uT  ’0 uT ’0 u 
d
E ( u, u ) E( u  Wu )
dW W 0
1
2 ’0 u  ’0 u T  ’0 u T ’0 u  ’0 uT ’0 u 
2 
1 (1  ’ uT )’ u  ’ u T (1  ’ u)
0 0 0 0

2 
1 FT ’ u  ’ u T F
0 0

E ( u, u ) sym(’ 0 u T F)

Note: E(u) is nonlinear, but E ( u, u ) is linear

60
 Variational Formulation cont.
• Variational Equation

³³: 0
S : E d: ³³: 0
u T fb d :  ³ s u T t d *
*o
for all  ‰ '

a( u, u ) A( u )

Energy form Load form

a( u, u ) A( u ), u  '

• Linear in terms of strain if St. Venant-Kirchhoff material

is used
• Also linear in terms of 
• Nonlinear in terms of u because displacement-strain
relation is nonlinear
61

Linearization (Increment)
• Linearization process is similar to variation and/or
differentiation
– First-order Taylor series expansion
– Essential part of Newton-Raphson method
• Let f(xk+1) = f(xk + 'uk), where we know xk and want to
calculate 'uk
df( x)
f( xk 1 ) f( xk ) 
˜ 'uk  H.O.T.
dx
• The first-order derivative is indeed linearization of f(x)
d wf
L[f] { f( x  Z'u) ˜ 'u Linearization
dZ Z 0 wx

d wf
Gf f { f( x  Wu ) ˜u Variation
dW W 0 wx
62
 Linearization of Residual
• We are still in continuum domain (not discretized yet)
• Residual R( u) a( u, u )  A( u )
• We want to linearize R(u) in the direction of 'u
– First, assume that u is perturbed in the direction of 'u using a
variable W. Then linearization becomes
T
wR( u  W'u) ª wR º
L[R( u)]
wW « wu » 'u
W 0 ¬ ¼

– R(u) is nonlinear w.r.t. u, but L[R(u)] is linear w.r.t. 'u

– Iteration k did not converged, and we want to make the residual at
iteration k+1 zero
T
k 1 ª wR( uk ) º
R( u ) | « » 'u  R( u )
k k
0
¬ wu ¼ 63

Newton-Raphson Iteration by Linearization

• This is N-R method (see Chapter 2)
T
ª wR( uk ) º
» 'u R( uk )
k
« wf
¬ wu ¼ f(xk)
wx

f(xk+1)
k 1 'uk
• Update state u u  'u
k k
xk+1 xk x
k 1 k 1
x Xu
ª wR( uk ) º
• We know how to calculate R(uk), but how about « » ?
¬ wu ¼
w w
[R( u)] [a( u, u )  A( u )]
wu wu
– Only linearization of energy form will be required
– We will address displacement-dependent load later

64
 Linearization cont.
• Linearization of energy form

L[a( u, u )] L ª¬ ³³0 S : E d: ¼º ³³ : ['S : E  S : 'E ] d:

0
:

– Note that the domain is fixed (undeformed reference)

– Need to express in terms of displacement increment 'u
• Stress increment (St. Venant-Kirchhoff material)
wS
'S : 'E D : 'E
wE

• Strain increment (Green-Lagrange strain)

'E 1 ( 'FT F
2
 FT 'F)

§ wx · § w( X  u) · w'u
'F '¨ ¸ '¨ ¸ ’ 0 'u
© wX ¹ © wX ¹ wX
65

Linearization cont.
• Strain increment 'E 1 ( 'FT F  FT 'F)
2
1 (’ 'uT F  FT ’ 'u)
2 0 0

sym(’ 0 'uT F)
!!! Linear w.r.t. 'u
• Inc. strain variation 'E '[sym(’ 0 u T F)]
sym(’ 0 u T 'F)
sym(’ 0 u T ’ 0 'u) !!! Linear w.r.t. 'u

• Linearized energy form

³³ : [E : D : 'E  S : 'E ] d: { a ( u; 'u, u )

*
L[a( u, u )] 0

– Implicitly depends on u, but bilinear w.r.t. 'u and 

– First term: tangent stiffness
– Second term: initial stiffness
66
 Linearization cont.
• N-R Iteration with Incremental Force
– Let tn be the current load step and (k+1) be the current iteration
– Then, the N-R iteration can be done by

a * ( n u k ; 'u k , u ) A( u )  a( n u k , u ), u  '

– Update the total displacement

n k 1
u u  'uk
n k

• In discrete form
{ d }T [ nKTk ]{ 'dk } { d }T { nRk }

n k n k
• What are [ KT ] and { R } ?

67

Example – Uniaxial Bar

du du
• Kinematics u2 , u2
dX dX F =100N
2 1 2
du 1 § du · 1
E11  u2  (u2 )2
dX 2 ¨© dX ¸¹
x
2 L0=1m

• Strain variation
du du du
E11  u2 (1  u2 )
dX dX dX
• Strain energy density and stress
1 E ˜ (E )2 wW § 1 ·
W(E11 ) 11 S11 E ˜ E11 E ¨ u2  (u2 )2 ¸
2 wE11 © 2 ¹
• Energy and load forms
L0
a(u,u) ³0 S11E11AdX S11AL0 (1  u2 )u2 A(u) u2F

• Variational equation R u2  S11AL0 (1  u2 )  F  0, u2

68
 Example – Uniaxial Bar
• Linearization
'S11 E'E11 E(1  u2 )'u2 'E11 u2'u2

³0  E11 ˜ E ˜ 'E11  S11 ˜ 'E11  AdX

L0
a* (u; 'u,u)
EAL0 (1  u2 )2 u2'u2  S11AL0u2'u2

• N-R iteration
[E(1  u2k )2  S11
k
]AL0 'u2k F  S11
k
(1  u2k )AL0

u2k 1 usk  'u2k

69

Example – Uniaxial Bar

(a) with initial stiffness

Iteration u Strain Stress conv
0 0.0000 0.0000 0.0000 9.999E01
1 0.5000 0.6250 125.00 7.655E01
2 0.3478 0.4083 81.664 1.014E02
3 0.3252 0.3781 75.616 4.236E06

(b) without initial stiffness

Iteration u Strain Stress conv
0 0.0000 0.0000 0.0000 9.999E01
1 0.5000 0.6250 125.00 7.655E01
2 0.3056 0.3252 70.448 6.442E03
3 0.3291 0.3833 76.651 3.524E04
4 0.3238 0.3762 75.242 1.568E05
5 0.3250 0.3770 75.541 7.314E07

70
 Updated Lagrangian Formulation
• The current configuration is the reference frame
– Remember it is unknown until we solve the problem
– How are we going to integrate if we don’t know integral domain?
• What stress and strain should be used?
– For stress, we can use Cauchy stress (V)
– For strain, engineering strain is a pair of Cauchy stress
– But, it must be defined in the current configuration

1 § wu wu ·
T
H ¨  ¸ sym(’ x u)
2 ¨ wx wx ¸
© ¹

71

Variational Equation in UL
• Instead of deriving a new variational equation, we will
convert from TL equation

1 § wu ·
T
1 T wu
V F ˜ S ˜ FT E ¨ FF ¸
J 2 ¨ wX wX ¸
© ¹
Ÿ S JF 1 ˜ V ˜ F T
1 T § T wu wu 1 ·
T
F ¨F  F ¸F
2 ¨ wX wX ¸
© ¹
1 T § wX wu wu wX ·
T T
F ¨  ¸F
2 ¨ wx wX wX wx ¸
Similarly © ¹
1 T § wu wu ·
T
'E FT ˜ 'H ˜ F F ¨  ¸F
2 ¨ wx wx ¸
1 § w'u w'u ·
T
© ¹
'H ¨  ¸
2 ¨ wx wx ¸ FT ˜ H ˜ F
© ¹
72
 Variational Equation in UL cont.
• Energy Form
a( u, u ) ³³: 0
S : E d: ³³: 0
(JF 1VF T ) : (FT HF) d:

Fik1VklFjl1Fmi HmnFnj Gmk GnlVkl Hmn Vmn Hmn

³³: 0
S : E d: ³³: 0
V : H Jd: ³³: x
V : H d:

– We just showed that material and spatial forms are

mathematically equivalent
• Although they are equivalent, we use different notation:
a( u, u ) ³³: x
V : H d: Is this linear or nonlinear?

• Variational Equation

a( u, u ) A( u ), u  ' What happens to load form?

73

Linearization of UL
• Linearization of ax ( u, u ) will be challenging because we
don’t know the current configuration (it is function of u)
• Similar to the energy form, we can convert the linearized
energy form of TL
• Remember a * ( u; 'u, u ) ³³ : [E : D : 'E  S : 'E ] d :
0
0

• Initial stiffness term

1 § wu w'u w'u wu ·
T T
1 T
S : 'E J(F VF ) : ¨  ¸
2 ¨ wX wX wX wX ¸
© ¹
1 § wu w'um w'um wum ·
JFik1VklFjl1 ¨ m  ¸
¨
2 © wXi wXj wXi wXj ¸¹
1 § wu w'um w'um wum ·
{ JVkl ¨ m 
2 © wxk wxl wxk wxl ¸¹ Kkl ( 'u, u )
74
 Linearization of UL cont.
• Initial stiffness term
S : 'E JV : K( 'u, u ) K( 'u, u ) sym(’ x u T ’ x 'u)

• Tangent stiffness term

(E : D : 'E) (FT ˜ H ˜ F) : D : (FT ˜ 'H ˜ F)
Fki HklFljDijmnFpm 'HpqFqn
ª1 º
J Hkl « FkiFljDijmnFpmFqn » 'Hpq
¬J ¼ 4th-order spatial
constitutive tensor
E : D : 'E J H : c : 'H
1
where cijkl FF F FD
J ir js km ln rsmn

75

Spatial Constitutive Tensor

• For St. Venant-Kirchhoff material
D O(1 … 1)  2PI Drsmn OGrs Gmn  P(GrmGsn  Grn Gsm )
• It is possible to show
1
cijkl ª Ob b  P(bikbjl  bilbjk ) º .
J ¬ ij kl ¼
• Observation
– D (material) is constant, but c (spatial) is not
– S D : E, V z c:H

76
 Linearization of UL cont.
• From equivalence, the energy form is linearized in TL and
converted to UL
L[a( u, u )] ³³: 0
[ H : c : 'H  V : K]J d:

a * ( u; 'u, u ) ³³: x
[ H : c : 'H  V : K] d:

• N-R Iteration
a * ( n uk ; 'uk , u ) A( u )  a( n uk , u ), u  '
• Observations
– Two formulations are theoretically identical with different
expression
– Numerical implementation will be different
– Different constitutive relation
77

Example – Uniaxial Bar

• Kinematics F =100N
1 2
du u2 du u2
, x
dx 1  u2 dx 1  u2 L0=1m
dx
• Deformation gradient: F11 1  u2 , J 1  u2
dX

1 1 2
• Cauchy stress: V11 FS F E(u2  u )(1  u2 )
J 11 11 11 2 2

u2
• Strain variation: H11 (u) F11T E11F111
1  u2
L
• Energy & load forms: a(u,u) ³0 V11H11 (u)Adx V11Au2 A(u) u2F

• Residual: R u2  V11A  F  0, u2

78
 Example – Uniaxial Bar
1
• Spatial constitutive relation: c1111 FFFFE (1  u2 )3 E
J 11 11 11 11
L
• Linearization: ³0 H11 (u)c1111H11 ('u)Adx EA(1  u2 )2 u2'u2
L V11A
³0 V11K11 ( 'u, u)Adx u 'u
1  u2 2 2
L
a * (u; 'u,u) ³0  H11 (u)c1111H11 ('u)  V11K('u,u)  Adx
V11
EA(1  u2 )2 u2 'u2  Au 'u
1  u2 2 2

Iteration u Strain Stress conv

0 0.0000 0.0000 0.000 9.999E01
1 0.5000 0.3333 187.500 7.655E01
2 0.3478 0.2581 110.068 1.014E02
3 0.3252 0.2454 100.206 4.236E06

79

Section 3.5
Hyperelastic Material Model

80
 Goals
• Understand the definition of hyperelastic material
• Understand strain energy density function and how to use
it to obtain stress
• Understand the role of invariants in hyperelasticity
• Understand how to impose incompressibility
• Understand mixed formulation and perturbed Lagrangian
formulation
• Understand linearization process when strain energy
density is written in terms of invariants

81

What Is Hyperelasticity?
• Hyperelastic material - stress-strain relationship derives
from a strain energy density function
– Stress is a function of total strain (independent of history)
– Depending on strain energy density, different names are used,
such as Mooney-Rivlin, Ogden, Yeoh, or polynomial model
• Generally comes with incompressibility (J = 1)
– The volume preserves during large deformation
– Mixed formulation – completely incompressible hyperelasticity
– Penalty formulation - nearly incompressible hyperelasticity
• Example: rubber, biological tissues
– nonlinear elastic, isotropic, incompressible and generally
independent of strain rate
• Hypoelastic material: relation is given in terms of stress
and strain rates 82
 Strain Energy Density
• We are interested in isotropic materials
– Material frame indifference: no matter what coordinate system is
chosen, the response of the material is identical
– The components of a deformation tensor depends on coord. system
– Three invariants of C are independent of coord. system
• Invariants of C
I1 tr(C ) C11  C22  C33 O12  O22  O32 No deformation
I1 = 3
I2 1 ª (tr C )2  tr(C2 ) º O12O22  O22O32  O32O12 I2 = 3
2 ¬ ¼
I3 = 1
I3 det C O12O22O32

– In order to be material frame indifferent, material properties

must be expressed using invariants
– For incompressibility, I3 = 1
83

Strain Energy Density cont.

• Strain Energy Density Function
– Must be zero when C = 1, i.e., O1 = O2 = O3 = 1
f
W(I1 , I2 , I3 ) ¦ Amnk (I1  3)m (I2  3)n (I3  1)k
m n  k 1

– For incompressible material

f
W(I1 , I2 ) ¦ Amn (I1  3)m (I2  3)n
m n 1

– Ex: Neo-Hookean model

P
W(I1 ) A10 (I1  3) A10
2
– Mooney-Rivlin model
W(I1 , I2 ) A10 (I1  3)  A01 (I2  3)

84
 Strain Energy Density cont.
• Strain Energy Density Function
– Yeoh model

W1 (I1 ) A10 (I1  3)  A20 (I1  3)2  A30 (I1  3)3

– Ogden model Initial shear modulus

N N
W1 ( O1 , O2 , O3 )
P

¦ Di O1Di  O2Di  O3Di  3
i 1 i
 P
1
¦D P
2i 1 i i

– When N = 1 and a1 = 1, Neo-Hookean material

– When N = 2, D1 = 2, and D2 = 2, Mooney-Rivlin material

85

Example – Neo-Hookean Model

• Uniaxial tension with incompressibility
O1 O O2 O3 1/ O
• Energy density
2
W A10 (I1  3) A10 (O12  O22  O32  3) A10 (O2   3)
O
• Nominal stress
wW § 1 · § 1 ·
P 2A10 ¨ O  2 ¸ P¨ 1  H  ¸
wO © O ¹ © (1  H)2 ¹
50
Linear elastic
0

-50
Nominal stress

-100

Neo-Hookean
-150

-200

-250
-0.8 -0.4 0 0.4 0.8
Nominal strain
86
 Example – St. Venant Kirchhoff Material
• Show that St. Venant-Kirchhoff material has the following
strain energy density
O 2
W(E) ª¬ tr(E) º¼  Ptr(E2 )
2
wW(E) wtr(E) wtr(E2 )
S Otr(E) P
wE wE wE
• First term
wtr(E)
tr(E) 1: E 1
wE
wtr(E)
Otr(E) O1(1 : E) O(1 … 1) : E
wE

• Second term
wEijEji
Gik G jlEji  EijG jk Gil Elk  Elk 2Elk
wEkl
87

Example – St. Venant Kirchhoff Material cont.

• Therefore
wtr(E) wtr(E2 )
S Otr(E) P
wE wE
O(1 … 1) : E  2PE
ª¬ O(1 … 1)  2PI º¼ : E

88
 Nearly Incompressible Hyperelasticity
• Incompressible material
– Cannot calculate stress from strain. Why?
• Nearly incompressible material
– Many material show nearly incompressible behavior
– We can use the bulk modulus to model it
• Using I1 and I2 enough for incompressibility?
– No, I1 and I2 actually vary under hydrostatic deformation
– We will use reduced invariants: J1, J2, and J3

J1 I1I31/3 J2 I2I32/3 J3 J I31/2

• Will J1 and J2 be constant under dilatation?

89

Locking
• What is locking
– Elements do not want to deform even if forces are applied
– Locking is one of the most common modes of failure in NL analysis
– It is very difficult to find and solutions show strange behaviors
• Types of locking
– Shear locking: shell or beam elements under transverse loading
– Volumetric locking: large elastic and plastic deformation
• Why does locking occur?
– Incompressible sphere under hydrostatic pressure

No unique pressure
Pressure

for given displ.

p sphere

Volumetric strain
90
 How to solve locking problems?
• Mixed formulation (incompressibility)
– Can’t interpolate pressure from displacements
– Pressure should be considered as an independent variable
– Becomes the Lagrange multiplier method
– The stiffness matrix becomes positive semi-definite

Displacement

Pressure

4x1 formulation

91

Penalty Method
• Instead of incompressibility, the material is assumed to be nearly
incompressible
• This is closer to actual observation
• Use a large bulk modulus (penalty parameter) so that a small volume
change causes a large pressure change
• Large penalty term makes the stiffness matrix ill-conditioned
• Ill-conditioned matrix often yields excessive deformation
• Temporarily reduce the penalty term in the stiffness calculation
• Stress calculation use the penalty term as it is

Unique pressure
Pressure

for given displ. ª1 º

« »
« 107 »
[K]
« 1 »
« »
Volumetric strain ¬ 1¼
92
 Example – Hydrostatic Tension (Dilatation)

­ x1 DX1 ªD 0 0 º ª D2 0 0 º
° «0 D 0» « »
® x2 DX2 F « » C «0 D2 0 »
°x «0
¯ 3 DX3 «¬ 0 0 D »¼
¬ 0 D2 »¼

• Invariants
I1 3D2 I2 3D 4 I3 D6 I1 and I2 are not constant

• Reduced invariants

J1 I1I31/3 3 J1 and J2 are constant

J2 I2I32/3 3
J3 I31/2 D3

93

Strain Energy Density

• Using reduced invariants
W(J1 , J2 , J3 ) WD (J1 , J2 )  WH (J3 )

– WD(J1, J2): Distortional strain energy density

– WH(J3): Dilatational strain energy density
• The second terms is related to nearly incompressible
behavior
K
WH (J3 ) (J3  1)2
2
– K: bulk modulus O  23 P for linear elastic material
1
Abaqus: W
H (J3 ) (J3  1)2
2D
94
 Mooney-Rivlin Material
• Most popular model
– (not because accuracy, but because convenience)

W(J1 , J2 , J3 ) WD (J1 , J2 )  WH (J3 )

K
A10 (J1  3)  A01 (J2  3)  (J3  1)2
2
– Initial shear modulus ~ 2(A10 + A01)
– Initial Young’s modulus ~ 6(A10 + A01) (3D) or 8(A10 + A01) (2D)
– Bulk modulus = K
• Hydrostatic pressure
wW wWH
p K(J3  1)
wJ3 wJ3

– Numerical instability for large K (volumetric locking)

– Penalty method with K as a penalty parameter 95

Mooney-Rivlin Material cont.

• Second P-K stress
wW wW wJ1 wW wJ2 wW wJ3
S  
wE wJ1 wE wJ2 wE wJ3 wE wa
a,E
S A10J1,E  A01J2,E  K(J3  1)J3,E wE

– Use chain rule of differentiation J1 I1I31/3

J1,E (I31/3 )I1,E  31 I1 (I34/3 )I3,E J2 I2I32/3

J2,E (I32/3 )I2,E  23 I2 (I35/3 )I3,E J3 I31/2

J3,E 1 (I 1/2 )I
2 3 3,E

I1,E 21 I1,E 21
I2,E 4(1  trE)1  4E I2,E 2(I1 1  C )
I3,E (2  4trE)1  4E  [ 94 eimn ejrsEmrEns ] I3,E 2I3C 1
96
 Example
• Show I1,E 21, I2,E 2(I1 1  C ), I3,E 2I3C 1
• Let I1 tr(C ), I2 1 tr( CC ),
2
I3 1 tr( CCC )
3

• Then I1 I1 , I2 1 I2
2 1
 I2 , I3 I3  61 I13  I1I2
• Derivatives
wI1 wI2 wI3
Gij, Cji, Cjk Cki
wCij wCij wCij

wI1 wI2 wI3

Gij, I1Gij  Cji, I3Cji1
wCij wCij wCij

and
w w
2
wC wE

97

Mixed Formulation
• Using bulk modulus often causes instability
– Selectively reduced integration (Full integration for deviatoric
part, reduced integration for dilatation part)
• Mixed formulation: Independent treatment of pressure
WH (J3, p) p(J3  1)
– Pressure p is additional unknown (pure incompressible material)
– Advantage: No numerical instability
– Disadvantage: system matrix is not positive definite
• Perturbed Lagrangian formulation
1 2
WH (J3, p) p(J3  1)  p
2K

– Second term make the material nearly incompressible and the

system matrix positive definite
98
 Variational Equation (Perturbed Lagrangian)
• Stress calculation
1 2
W(J1 , J2 , J3 ) A10 (J1  3)  A01 (J2  3)  p(J3  1)  p
2K
S A10J1,E  A01J2,E  pJ3,E

• Variation of strain energy density

W W,E E  W,pp
p
S : E  (J3  1  )p
K
• Introduce a vector of unknowns: r ( u, p)

a(r, r ) ³³: 0
ª¬ S : E  pH º¼ d:

p
H J3  1  Volumetric strain
K

99

Example – Simple Shear

• Calculate 2nd P-K stress for the simple shear deformation
– material properties (A10, A01, K) X2, x2
ª1 1 0º ª1 1 0º
F «0 1 0» C FT F «1 2 0»
« » « »
«¬ 0 0 1 »¼ «¬ 0 0 1 »¼ 45o

X1, x1
I1 4, I2 4, I3 1

I1,E 21
ª 6 2 0 º
I2,E 2(I1 1  C ) «« 2 4 0 »»
«¬ 0 0 6 »¼
ª 4 2 0 º
I3,E 2I3C 1 «« 2 2 0 »»
«¬ 0 0 2 »¼
100
 Example – Simple Shear cont.

ª 5 4 0 º
J1 I1I31/3 4 4 2« »
J1,E I1,E  I3,E 4 1 0
3 3« »
«¬ 0 0 1 »¼
J2 I2I32/3 4
ª 7 5 0 º
2« »
J2,E I2,E  83 I3,E 5  2 0
J3 I31/2 1 3« »
«¬ 0 0 1 »¼

S A10J1,E  A01J2,E  K(J3  1)J3,E

ª 5A10  7A01 4A10  5A01 0 º

2« »
4A10  5A01 A10  2A01 0
3« »
«¬ 0 0 A10  A01 »¼
Note: S11, S22 and S33 are not zero

101

Stress Calculation Algorithm

• Given: {E} = {E11, E22, E33, E12, E23, E13}T, {p}, (A10, A01)
{1} {1 1 1 0 0 0}T {C } 2{E }  {1}

I1 C1  C2  C3
I2 C1C2  C1C3  C2C3  C4C4  C5C5  C6C6
I3 (C1C2  C4C4 )C3  (C4C6  C1C5 )C5  (C4 C5  C2C6 )C6

{I1,E } 2{1 1 1 0}
{I2,E } 2{C2  C3 C3  C1 C1  C2 C4 C5 C6 }
{I3,E } 2{C2C3  C52 C3C1  C62 C1C2  C42
C5C6  C3C4 C6C4  C1C5 C4C5  C2C6 }

{J1,E } I31/3 {I1,E }  31 I1I34/3 {I3,E }

{J2,E } I32/3 {I2,E }  23 I2I35/3 {I3,E }
{J3,E } 1 I 1/2 {I
2 3 3,E },
For penalty method, use
{S} A10 {J1,E }  A01 {J2,E }  p{J3,E } K(J3 – 1) instead of p
102
 Linearization (Penalty Method)
• Stress increment
'S W,E,E : 'E D : 'E

• Material stiffness

wS
D A10J1,EE  A01J2,EE  K(J3  1)J3,EE  KJ3,E … J3,E
wE

• Linearized energy form

a * ( u; 'u, u ) ³³: 0
ª¬ E : D : 'E  S : 'E º¼ d:

103

Linearization cont.
• Second-order derivatives of reduced invariants
1 1 4 4 7 1 4
J1,EE I1,EE I3 3  I3 3 (I1,E … I3,E  I3,E … I1,E )  I1I3 3 I3,E … I3,E  I1I3 3 I3,EE
3 9 3
 23 2  53 10  38 2 5
J2,EE I2,EE I3  I3 (I2,E … I3,E  I3,E … I2,E )  I2I3 I3,E … I3,E  I2I3 3 I3,EE
3 9 3
1  3
1  1
J3,EE  I3 2 I3,E … I3,E  I3 2 I3,EE
4 2

I1,EE 0
I2,EE 41 … 1  I
I3,EE 4I3C 1 … C 1  I3C 1 IC 1

104
 MATLAB Function Mooney
• Calculates S and D for a given deformation gradient
%
% 2nd PK stress and material stiffness for Mooney-Rivlin material
%
function [Stress D] = Mooney(F, A10, A01, K, ltan)
% Inputs:
% F = Deformation gradient [3x3]
% A10, A01, K = Material constants
% ltan = 0 Calculate stress alone;
% 1 Calculate stress and material stiffness
% Outputs:
% Stress = 2nd PK stress [S11, S22, S33, S12, S23, S13];
% D = Material stiffness [6x6]
%

105

Summary
• Hyperelastic material: strain energy density exists with
incompressible constraint
• In order to be material frame indifferent, material
properties must be expressed using invariants
• Numerical instability (volumetric locking) can occur when
large bulk modulus is used for incompressibility
• Mixed formulation is used for purely incompressibility
(additional pressure variable, non-PD tangent stiffness)
• Perturbed Lagrangian formulation for nearly
incompressibility (reduced integration for pressure term)

106
 Section 3.6
Finite Element Formulation for
Nonlinear Elasticity

107

Voigt Notation
• We will use the Voigt notation because the tensor
notation is not convenient for implementation
– 2nd-order tensor º vector
– 4th-order tensor º matrix

• Stress and strain vectors (Voigt notation)

{S} {S11 S22 S12 }T

{E } {E11 E22 2E12 }T

– Since stress and strain are symmetric, we don’t need 21 component

108
 4-Node Quadrilateral Element in TL
• We will use plane-strain, 4-node quadrilateral element to
discuss implementation of nonlinear elastic FEA
• We will use TL formulation
• UL formulation will be discussed in Chapter 4

X2 4 t
3 (–1,1) (1,1)

1 2
X1 (–1,–1) (1,–1)

FiniteElementat ReferenceElement
undeformeddomain

109

Interpolation and Isoparametric Mapping

• Displacement interpolation
Ne
Nodal displacement vector (uI, vI)
u ¦ NI (s)uI
I 1
Interpolation function
• Isoparametric mapping
– The same interpolation function is used for geometry mapping
Nodal coordinate (XI, YI)
Ne
X ¦ NI (s) XI
I 1

N1 1 (1  s)(1  t)
4
1 (1  s)(1  t) Interpolation (shape) function
N2 4
1 (1  s)(1  t) • Same for all elements
N3 4
1 (1  s)(1  t)
• Mapping depends of geometry
N4 4
110
 Displacement and Deformation Gradients
• Displacement gradient
Ne
wu wN ( s) Ne

wX
¦ wIX uI ui,j ¦ NI,j (s)uIi
I 1 I 1

’0 u {u1,1 u1,2 u2,1 u2,2 }T

wNI (s)
– How to calculate ?
wX

• Deformation gradient

{F } {F11 F12 F21 F22 }T {1  u1,1 u1,2 u2,1 1  u2,2 }T

– Both displacement and deformation gradients are not symmetric

111

Green-Lagrange Strain
• Green-Lagrange strain

­ E11 ½ ­ u1,1  21 (u1,1u1,1  u2,1u2,1 ) ½

° ° ° °
® u2,2  2 (u1,2u2,1  u2,2u2,2 ) ¾
1
{E } ® E22 ¾
° 2E ° ° °
¯ 12 ¿ ¯ u1,2  u2,1  u1,2u1,1  u2,1u2,2 ¿

– Due to nonlinearity, {E } z [B]{ d}

– For St. Venant-Kirchhoff material, {S} [D]{E }

ª O  2P O 0º
[D] « O O  2P 0 »
« »
«¬ 0 0 P »¼

112
 Variation of G-R Strain
• Although E(u) is nonlinear, E ( u, u ) is linear

E ( u, u ) sym(’ 0 u T F) {E } [BN ]{ d }

ª º
« F11N1,1 F21N1,1 F11N2,1 F21N2,1 " F11N4,1 F21N4,1 »
« »
« »
[BN ] « F12N1,2 F22N1,2 F12N2,2 F22N2,2 " F12N4,2 F22N4,2 »
« »
« »
« F11N1,2 F21N1,2 F11N2,2 F21N2,2
"
F11N4,2 F21N4,2 »
« F N  F N  F N  F N F12N4,1 F22N4,1 »¼
¬ 12 1,1 22 1,1 12 2,1 22 2,1

Function of u
Different from linear strain-displacement matrix

113

Variational Equation
• Energy form
a( u, u ) ³³: 0
S : E d:

| { d }T ³³ [BN ]T { S } d:
:0

{ { d }T {Fint }
• Load form
A( u ) ³³: 0
u T fb d :  ³* S
0
u T t d*

¦ uIT ^ ³³: `
Ne
| NI (s)fb d:  ³ S NI (s)t d*
0 *0
I 1
{ { d }T {Fext }

• Residual
{ d }T {Fint ( d)} { d }T { F ext },  { d }  'h
114
 Linearization – Tangent Stiffness
• Incremental strain { 'E } [BN ]{ 'd }

• Linearization

³³: E : D : 'E d : { d }T ª ³³ [BN ]T [D][BN ] d: º { 'd}

0 «¬ :0 ¼»

³³: S : 'E d : { d }T ª ³³ [BG ]T [6][BG ] d: º { 'd}

0 «¬ :0 ¼»

ª S11 S12 0 0 º
«S 0 »»
[6] « 12 S22 0
« 0 0 S11 S12 »
« »
¬ 0 0 S12 S22 ¼

ª N1,1 0 N2,1 0 N3,1 0 N4,1 0 º

« »
[BG ] « N1,2 0 N2,2 0 N3,2 0 N4,2 0 »
« 0 N 0 N2,1 0 N3,1 0 N4,1 »
« 1,1
»
«¬ 0 N2,1 0 N2,2 0 N3,2 0 N4,2 »
¼ 115

Linearization – Tangent Stiffness

• Tangent stiffness

[KT ] ³³: 0
ª [BN ]T [D][BN ]  [BG ]T [6][BG ] º d:0
¬ ¼

• Discrete incremental equation (N-R iteration)

{ d }T [KT ]{ 'd } { d }T { F ext  Fint },  { d }  'h

– [KT] changes according to stress and strain

– Solved iteratively until the residual term vanishes

116
 Summary
• For elastic material, the variational equation can be
obtained from the principle of minimum potential energy
• St. Venant-Kirchhoff material has linear relationship
between 2nd P-K stress and G-L strain
• In TL, nonlinearity comes from nonlinear strain-
displacement relation
• In UL, nonlinearity comes from constitutive relation and
unknown current domain (Jacobian of deformation
gradient)
• TL and UL are mathematically equivalent, but have
different reference frames
• TL and UL have different interpretation of constitutive
relation.
117

Section 3.7
MATLAB Code for
Hyperelastic Material Model

118
 HYPER3D.m
• Building the tangent stiffness matrix, [K], and the residual
force vector, {R}, for hyperelastic material
• Input variables for HYPER3D.m
Variable Array size Meaning
MID Integer Material Identification No. (3) (Not used)
PROP (3,1) Material properties (A10, A01, K)
UPDATE Logical variable If true, save stress values
LTAN Logical variable If true, calculate the global stiffness matrix
NE Integer Total number of elements
NDOF Integer Dimension of problem (3)
XYZ (3,NNODE) Coordinates of all nodes
LE (8,NE) Element connectivity

119

function HYPER3D(MID, PROP, UPDATE, LTAN, NE, NDOF, XYZ, LE)

%***********************************************************************
% MAIN PROGRAM COMPUTING GLOBAL STIFFNESS MATRIX AND RESIDUAL FORCE FOR
% HYPERELASTIC MATERIAL MODELS
%***********************************************************************
%%
global DISPTD FORCE GKF SIGMA
%
% Integration points and weights
XG=[-0.57735026918963D0, 0.57735026918963D0];
WGT=[1.00000000000000D0, 1.00000000000000D0];
%
% Index for history variables (each integration pt)
INTN=0;
%
%LOOP OVER ELEMENTS, THIS IS MAIN LOOP TO COMPUTE K AND F
for IE=1:NE
% Nodal coordinates and incremental displacements
ELXY=XYZ(LE(IE,:),:);
% Local to global mapping
IDOF=zeros(1,24);
for I=1:8
II=(I-1)*NDOF+1;
IDOF(II:II+2)=(LE(IE,I)-1)*NDOF+1:(LE(IE,I)-1)*NDOF+3;
end
DSP=DISPTD(IDOF);
DSP=reshape(DSP,NDOF,8);
%
%LOOP OVER INTEGRATION POINTS
for LX=1:2, for LY=1:2, for LZ=1:2
E1=XG(LX); E2=XG(LY); E3=XG(LZ);
INTN = INTN + 1;
%
% Determinant and shape function derivatives
[~, SHPD, DET] = SHAPEL([E1 E2 E3], ELXY);
FAC=WGT(LX)*WGT(LY)*WGT(LZ)*DET; 120
 % Deformation gradient
F=DSP*SHPD' + eye(3);
%
% Computer stress and tangent stiffness
[STRESS DTAN] = Mooney(F, PROP(1), PROP(2), PROP(3), LTAN);
%
% Store stress into the global array
if UPDATE
SIGMA(:,INTN)=STRESS;
continue;
end
%
% Add residual force and tangent stiffness matrix
BM=zeros(6,24); BG=zeros(9,24);
for I=1:8
COL=(I-1)*3+1:(I-1)*3+3;
BM(:,COL)=[SHPD(1,I)*F(1,1) SHPD(1,I)*F(2,1) SHPD(1,I)*F(3,1);
SHPD(2,I)*F(1,2) SHPD(2,I)*F(2,2) SHPD(2,I)*F(3,2);
SHPD(3,I)*F(1,3) SHPD(3,I)*F(2,3) SHPD(3,I)*F(3,3);
SHPD(1,I)*F(1,2)+SHPD(2,I)*F(1,1)
SHPD(1,I)*F(2,2)+SHPD(2,I)*F(2,1) SHPD(1,I)*F(3,2)+SHPD(2,I)*F(3,1);
SHPD(2,I)*F(1,3)+SHPD(3,I)*F(1,2)
SHPD(2,I)*F(2,3)+SHPD(3,I)*F(2,2) SHPD(2,I)*F(3,3)+SHPD(3,I)*F(3,2);
SHPD(1,I)*F(1,3)+SHPD(3,I)*F(1,1)
SHPD(1,I)*F(2,3)+SHPD(3,I)*F(2,1) SHPD(1,I)*F(3,3)+SHPD(3,I)*F(3,1)];
%
BG(:,COL)=[SHPD(1,I) 0 0;
SHPD(2,I) 0 0;
SHPD(3,I) 0 0;
0 SHPD(1,I) 0;
0 SHPD(2,I) 0;
0 SHPD(3,I) 0;
0 0 SHPD(1,I);
0 0 SHPD(2,I);
0 0 SHPD(3,I)];
end 121

%
% Residual forces
FORCE(IDOF) = FORCE(IDOF) - FAC*BM'*STRESS;
%
% Tangent stiffness
if LTAN
SIG=[STRESS(1) STRESS(4) STRESS(6);
STRESS(4) STRESS(2) STRESS(5);
STRESS(6) STRESS(5) STRESS(3)];
SHEAD=zeros(9);
SHEAD(1:3,1:3)=SIG;
SHEAD(4:6,4:6)=SIG;
SHEAD(7:9,7:9)=SIG;
%
EKF = BM'*DTAN*BM + BG'*SHEAD*BG;
GKF(IDOF,IDOF)=GKF(IDOF,IDOF)+FAC*EKF;
end
end; end; end;
end
end

122
 Example Extension of a Unit Cube
• Face 4 is extended with a stretch ratio O = 6.0
• BC: u1 = 0 at Face 6, u2 = 0 at Face 3, and u3 = 0 at Face 1
• Mooney-Rivlin: A10 = 80MPa, A01 = 20MPa, and K = 107
% Nodal coordinates X2
XYZ=[0 0 0;1 0 0;1 1 0;0 1 0;0 0 1;1 0 1;1 1 1;0 1 1]; Face 1
% 4 3
% Element connectivity
LE=[1 2 3 4 5 6 7 8];
% 8 7 Face 4
% No external force
EXTFORCE=[]; Face 6 2
% X1
% Prescribed displacements [Node, DOF, Value] 1
SDISPT=[1 1 0;4 1 0;5 1 0;8 1 0; % u1=0 for Face 6
1 2 0;2 2 0;5 2 0;6 2 0; % u2=0 for Face 3 5 6
1 3 0;2 3 0;3 3 0;4 3 0; % u3=0 for Face 1 X3 Face 3
2 1 5;3 1 5;6 1 5;7 1 5]; % u1=5 for Face 4
%
% Load increments [Start End Increment InitialFactor FinalFactor]
TIMS=[0.0 1.0 0.05 0.0 1.0]';
%
% Material properties
MID=-1;
PROP=[80 20 1E7];
123

Example Extension of a Unit Cube

Time Time step Iter Residual
0.05000 5.000e-02 2 1.17493e+05
Not converged. Bisecting load increment 2

Time Time step Iter Residual

0.02500 2.500e-02 2 2.96114e+04
3 2.55611e+02 6000
4 1.84747e-02
5 1.51867e-10 5000

Time Time step Iter Residual 4000

Stress

0.05000 2.500e-02 2 2.48106e+04

3 1.69171e+02 3000
4 7.67766e-03
5 2.39898e-10 2000

Time Time step Iter Residual 1000

0.10000 5.000e-02 2 8.45251e+04
3 1.88898e+03 0
4 8.72537e-01 1 2 3 4 5 6
Stretch ratio
5 1.86783e-07
...
Time Time step Iter Residual
1.00000 5.000e-02 2 8.55549e+03
3 8.98726e+00
4 9.88176e-06
5 1.66042e-09 124
 Hyperelastic Material Analysis Using ABAQUS
• *ELEMENT,TYPE=C3D8RH,ELSET=ONE
– 8-node linear brick, reduced integration with hourglass control,
hybrid with constant pressure
• *MATERIAL,NAME=MOONEY
*HYPERELASTIC, MOONEY-RIVLIN
80., 20.,
– Mooney-Rivlin material with A10 = 80 and A01 = 20
• *STATIC,DIRECT
– Fixed time step (no automatic time step control)
y

z 125

Hyperelastic Material Analysis Using ABAQUS

*HEADING *MATERIAL,NAME=MOONEY
- Incompressible hyperelasticity (Mooney- *HYPERELASTIC, MOONEY-RIVLIN
Rivlin) Uniaxial tension 80., 20.,
*NODE,NSET=ALL *STEP,NLGEOM,INC=20
1, UNIAXIAL TENSION
2,1. *STATIC,DIRECT
3,1.,1., 1.,20.
4,0.,1., *BOUNDARY,OP=NEW
5,0.,0.,1. FACE1,3
6,1.,0.,1. FACE3,2
7,1.,1.,1. FACE6,1
8,0.,1.,1. FACE4,1,1,5.
*NSET,NSET=FACE1 *EL PRINT,F=1
1,2,3,4 S,
*NSET,NSET=FACE3 E,
1,2,5,6 *NODE PRINT,F=1
*NSET,NSET=FACE4 U,RF
2,3,6,7 *OUTPUT,FIELD,FREQ=1
*NSET,NSET=FACE6 *ELEMENT OUTPUT
4,1,8,5 S,E
*ELEMENT,TYPE=C3D8RH,ELSET=ONE *OUTPUT,FIELD,FREQ=1
1,1,2,3,4,5,6,7,8 *NODE OUTPUT
*SOLID SECTION, ELSET=ONE, U,RF
MATERIAL= MOONEY *END STEP
126
 Hyperelastic Material Analysis Using ABAQUS
• Analytical solution procedure
– Gradually increase the principal stretch O from 1 to 6
– Deformation gradient
ªO 0 0 º
« »
F «0 1 / O 0 »
«0 0 1 / O »¼
¬
– Calculate J1,E and J2,E
– Calculate 2nd P-K stress

S A10J1,E  A01J2,E

– Calculate Cauchy stress

1
V F ˜ S ˜ FT
J
– Remove the hydrostatic component of stress
V11 V11  V22
127

Hyperelastic Material Analysis Using ABAQUS

• Comparison with analytical stress vs. numerical stress

128
 Section 3.9
Fitting Hyperelastic Material
Parameters from Test Data

129

Elastomer Test Procedures

• Elastomer tests
– simple tension, simple compression, equi-biaxial tension, simple
shear, pure shear, and volumetric compression

70
uni-axial
bi-axial
60
pure shear

50
Nominal stress

40

30

20

10

0
0 1 2 3 4 5 6 7
Nominal strain
130
 Elastomer Tests
• Data type: Nominal stress vs. principal stretch

F L F
L

Simple tension test

Pure shear test F
F

F
L

Volumetric compression test

Equal biaxial test
131

Data Preparation
• Need enough number of independent experimental data
– No rank deficiency for curve fitting algorithm
• All tests measure principal stress and principle stretch

Experiment Type Stretch Stress

Uniaxial tension Stretch ratio O= L/L0 Nominal stress TE = F/A0

Equi-biaxial Stretch ratio O = L/L0 in y- Nominal stress TE = F/A0

tension direction in y-direction

Pure shear test Stretch ratio O= L/L0 Nominal stress TE = F/A0

Volumetric test Compression ratio O= L/L0 Pressure TE = F/A0

132
 Data Preparation cont.
• Uni-axial test O1 O, O2 O3 1/ O
wU
T 2(1  O 3 )(A10 O  A01 )
wO
­A ½
T(A10 ,A01 , O) { x }T { b} ª 2(O  O 2 ) 2(1  O 3 ) º ® 10 ¾
¬ ¼ A
¯ 01 ¿

• Equi-biaxial test O1 O2 O, O3 1 / O2
1 wU
T 2( O  O 5 )(A10  O2A01 )
2 wO
• Pure shear test O1 O, O2 1, O3 1 / O
wU
T 2(O  O 3 )(A10  A01 )
wO

133

Data Preparation cont.

• Data Preparation

Type 1 1 1 ! 4 4 ! 4
O O1 O2 O3 ! Oi Oi1 ! ONDT
T E T1E T2E T3E ! Ti E TiE1 ! TNDT
E

• For Mooney-Rivlin material model, nominal stress is a

linear function of material parameters (A10, A01)

134
 Curve Fitting for Mooney-Rivlin Material
• Need to determine A10 and A01 by minimizing error
between test data and model
NDT
¦ 
2
minimize TkE  T(A10 ,A01 , Ok )
A10 ,A01 k 1

• For Mooney-Rivlin, T(A10, A01, Ok) is linear function

– Least-squares can be used ­ A10 ½
{ b} ® ¾
A
¯ 01 ¿
­ T1E ½ ­ T1 ½ ª x(O1 )T º
° E ° ° T ° « »
° T2 ° ° 2 ° « x ( O )T
» { b}
{ TE } ® ¾ {T} ® ¾
1
[ X]{b}
# # « # »
° ° ° ° « »
° TE ° °¯ TNDT °¿ «¬ x(ONDT ) »¼T
¯ NDT ¿
135

Curve Fitting cont.

• Minimize error(square)

{ e }T { e } { T E  T }T { T E  T }
{ T E  Xb}T { T E  Xb}
{ T E }T { T E }  2{b}T [ X]T { T E }  { b}T [ X]T [ X]{ b}

• Minimization Æ Linear regression equation

[ X]T [ X]{b} [ X]T { T E }

136
 Stability of Constitutive Model
• Stable material: the slope in the stress-strain curve is
always positive (Drucker stability)
• Stability requirement (Mooney-Rivlin material)

dH : D : dH ! 0

• Stability check is normally performed at several specified

deformations (principal directions)
dV1dH1  dV2dH2 ! 0

ªD D12 º ­ dH1 ½
^ dH1dH2 ` « 11
D D » ® dH ¾ ! 0
¬ 21 22 ¼ ¯ 2¿
• In order to be P.D.
D11  D22 ! 0
D11D22  D12D21 ! 0
137