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Solid Continua
By
S Ziaei Rad
Mechanical Engineering Department, IUT
Introduction
In linear description of motion of solid bodies
one assumes that displacements and strains are
small and the material is elastic. The equilibrium
equations are derived using the undeformed
configuration.
In nonlinear analysis of beams and plates the
strain was assumed to be small and thus one can
ignore the geometry of the body and different
measures of strain and stress.
Introduction
When the geometry changes are significant, i.e.
displacements and strains are large, the
geometry of the body must be updated to
determine the new position x of the material
point X.
Thus, it is necessary to distinguish between
different measure of strain and stress.
Since strain energy in an object is independent
of strain or stress measure, thus we need to
introduce the concept of energetically pairs of
strain and stress.
Description of Motion
Consider a body with initial description of
C0.
X=(X1,X2,X3) Material coordinates
Description of Motion
After application of load, the body deforms and
have a new configuration C with x=(x1,x2,x3)
Material or Lagrange description: the motion of
the body is referred to a reference configuration,
usually C0.
Thus in Lagrange description the current
coordinates (x1,x2,x3) are express in terms of
reference coordinates (X1,X2,X3) , i.e.
And the typical behavior of a variable is express
wrt material coordinates (X1,X2,X3)
Description of Motion
In spatial or Eulerian description the motion is
described wrt the current configuration, i.e. in
terms of (x1,x2,x3). For a typical variable
Each description convoys different information.
In Lagrangian Description, the focus is on material
point X. The particle X has different phi at different
time t.
In Eulerian description, the phi is constant and
different material points occupied position X at
different time t.
Deformation Gradient Tensor
Consider 2 particle P and Q near each other
Deformation Gradient Tensor
In configuration C0
After deformation
The displacement of material particle P and Q
Deformation Gradient Tensor F, relation
between a material line dX before deformation
to the line dx after deformation.
Deformation Gradient Tensor
Also,
Or in indicial notation
F
1 1 1
1 1 1 2 3 1 1 2 3
1 2 3
2 2 2
2 2 1 2 3 2 1 2 3
1 2 3
3 3 3
3 3 1 2 3 3 1 2 3
1 2 3
( , , , )
( , , , )
( , , , )
x x x
x x X X X t dx dX dX dX
X X X
x x x
x x X X X t dx dX dX dX
X X X
x x x
x x X X X t dx dX dX dX
X X X
c c c
= = + +
c c c
c c c
= = + +
c c c
c c c
= = + +
c c c
1 1 1
1 2 3
1 1
2 2 2
2 2
1 2 3
3 3
3 3 3
1 2 3
x x x
X X X
dx dX
x x x
dx dX
X X X
dx dX
x x x
X X X
(
c c c
(
c c c
(
( (
(
c c c
( (
=
(
( (
c c c
(
( (
(
c c c
(
c c c
i
i I
I
i iI I
i
iI
I
x
dx dX
X
dx F dX
x
F
X
c
=
c
=
c
=
c
Deformation Gradient Tensor
The deformation gradient tensor F can be
expressed in terms of displacement u, x=X+u;
The determinant of F is called Jacobian of the
motion J=det(F)
If F=I, then the body is not rotated and
undeformed.
Note that F has no information about the body
translation.
Green and Almansi Strain Tensor
Next a general measure of deformation
independent of both translation and rotation is
discussed.
The distance between points P and Q in C0 and
C are
Right Cauchy-Green deformation tensor
Green and Almansi Strain Tensor
The change in line length wrt the original
configuration is
E is symmetric, i.e. E=E
If E=0 change in square length is zero
Green strain Tensor
Green and Almansi Strain Tensor
The change in line length wrt the current body
configuration is
Almansi strain tensor
Green and Almansi Strain Tensor
In indicial notation
Green and Almansi Strain Tensor
In expand notation
Example
Consider a block (a*b*h) where h is small wrt a
and b. Suppose that the body deform to a
diamond shape
Example (cont)
The coordinate mapping and its inverse is
The displacements are
The only nonzero components of Green tensor
are
Example (cont)
The Almansi strain tensor
Polar Decomposition
Note that tensor F transform material
vector dX into spatial vector dx
Another rule for F is with help of Polar
Decomposition theorem
R orthogonal rotation tensor
U, V symmetric stretch tensors.
Polar Decomposition
To evaluate R and U
To compute U, it is necessary to write C in
terms of its eigenvalues and eigenvectors
Then
And
Stress Tensor
The equation of motion must be derived for the
deformed configuration of the structure at time
t.
However, the geometry of the deformed body
is unknown, the equation of motions must be
written in terms of known reference
configuration.
In doing so, different measure of stress must be
introduced.
Stress Tensor
First, introduce the True stress, which is the stress
in the deformed configuration.
The stress vector
The Cauchy stress tensor is defined as the
current force per unit deformed area
where
Stress and strain measure between
configurations
The determination of final configuration for a solid
body undergoing large deformation is a difficult
task.
A practical way to determine the final configuration
is to apply the load incrementally.
It means that the load is applied in increments so
that the body occupies several intermediate
configurations prior to the final configuration.
The magnitude of load increment should be such
that the computational method used is capable of
predicting the deformed configuration at each load
step.
Stress and strain measure between
configurations
In Lagrange description assume that
If the initial configuration C0 is used as
reference configuration with respect to which al
quantities are measured, it is called the total
Lagrangian description.
if the latest known configuration is used as
known configuration, it is called the updated
Lagrangian description.
0 1 1
, , , , , ,
i i n
C C C C C
Stress Tensor
In order to express df in terms of a stress time
the initial undeformed area dA, we need a new
stress tensor
Where N is the unit vector normal to the
undeformed area dA.
P is called first Piola-Kirchhof stress tensor and it
gives the current force per unit undeformed
area.
Stress Tensor
The second Piola-Kirchhof stress tensor S is defined
as follows
As we can transform dx to dX by use of inverse
gradient tensor, i.e.
We can transform df (current force) to dF
(transformed current force) by
P is the transformed current force per unit
undeformed area
Stress tensor
In summary, the following relations
between different stress measure exist
J is the determinant of F
Energetically conjugate stress and
strain
The rate of internal work done in a continuous
medium in current configuration is
Sigma is the Cauchy stress tensor and d is the
symmetric part of the velocity gradient tensor.
Sigma and d are energetically conjugate since
their products produces the energy stored in
the body.
Energetically conjugate stress and
strain
One can show that
Second Piola-Kirchhof stress S is conjugate with
the rate of Green strain tensor. (Prove it!)
Notation
C0 initial undeformed configuration
C1 the last known deformed configuration
C2 the current deformed configuration (to be determined)
Assumptions
All variables such as displacement, strain, stress
and are known up to C1.
We wish to develop a formulation to find the
displacement fields in C2 configuration.
The deformation of the body from C1 to C2 is
small due to the load increment.
The deformation from C0 to C1 is large but
continuous.
Notation
A left superscript the configuration in which
the quantity occurred.
A left subscript the configuration with respect
to which the quantity measured.
, Quantity occurred in Ci but measured in Cj
Quantity occurred and measured in the same
configuration (left subscript is not shown)
occurred between C1-C2 but measured in Ci
i i
i
Q Q =
1 2 C C
i i
Q Q
=
Notation
The following symbols in 3 configurations are used
Notation
When a body deform under the action of an
external load
A Particle X in C0
moves to a new position in C1
and position in C2
The total displacement of particle X in C1 and
C2
Notation
The displacement increment of the particle
from C1 to C2
Conservation of Mass
The relation between the mass densities
in C0, C1 and C2 can be found from conservation
of mass law.
The mass of a material body remain constant
during the movement from one configuration to
another
Conservation of Mass
A change in integration