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Dong
Civil and Environmental
Engineering Department,
University of California,
Los Angeles, CA 90095-1593
Mem. ASME
J. B. Kosmatka
Department of Applied Mechanics and
Engineering Science,
University of California,
San Diego, CA 92093-0085
Mem ASME
H. C. Lin
Civil and Environmental
Engineering Department,
University of California,
Los Angeles, CA 90095-1593
Introduction
This paper is the first of three devoted to the equilibrium analysis of a finite length prismatic elastic cylinder whose cross section
may be arbitrary in its geometry and may be composed of any
number of distinct materials. Each constituent material may have
linear elastic mechanical properties exhibiting the most general
form of rectilinear anisotropy. The materials are perfectly bonded
so that full intersurface kinematic and traction continuity is assured. The cylinders lateral surface is traction-free. The two ends
of the cylinder are acted upon by tractions which are presumed to
be prescribed on a pointwise basis. These traction states lead to an
axial force, bending moment, torque, and flexure transverse
shear force, and they must occurred in such a way that overall
equilibrium of the cylinder is maintained.
Specializing the above problem description to a homogeneous,
isotropic cylinder gives the celebrated Saint-Venants problem.
The Saint-Venants solutions or that to the relaxed formulation of
Saint-Venants problem 1,2 are solutions in which the pointwise specification of tractions on the ends was replaced by integrals representing the axial force, bending moment, torque, and
flexure force. Saint-Venant asserted that differences between traction states according to his solutions and any other equipollent
traction state were confined to regions at the ends of the cylinder,
i.e., Saint-Venants principle. The Saint-Venant solutions for homogeneous, isotropic cylinders occupy a very important place in
structural engineering. They validate the kinematic hypotheses of
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY OF
MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF APPLIED
MECHANICS. Manuscript received by the ASME Applied Mechanics Division, Oct.
7, 1999; final revision, July 21, 2000. Associate Editor: J. W. Ju. Discussion on the
paper should be addressed to the Editor, Professor Lewis T. Wheeler, Department of
Mechanical Engineering, University of Houston, Houston, TX 77204-4792, and will
be accepted until four months after final publication of the paper itself in the ASME
JOURNAL OF APPLIED MECHANICS.
mogeneous, anisotropic cylinder even though all theoretical considerations are the same. Comments on the differences are given
in the Concluding Remarks section.
(1a)
or
n x,y
u x,y,z
v x,y,z
w x,y,z
n x,y
n x,y
uu z
uv z .
uw z
(1b)
Lxy uLz u
(2)
Lxy
;
y
Lz
(3)
b1
n,y
ne,y
n,y
b2
n,x
n,x
h x,y
(5)
1
2
T Cdx dy dzV E 0
(6)
(7)
K1 ,K2 ,K3
n1
zy x zx y dx dyM z z
hT dx dyF z
(10)
FT z P x , P y , P z ,M x ,M y ,M z
zz ydx dyM x z
bT2 Cb2 ,
bT2 Cb1 bT1 Cb2 , bT1 Cb1 ]dxdy. (8)
x
y
(11)
(12)
zz dx dy P z z
(4)
zy dx dy P y z ;
where
n,x
b1 ue b2 ue,z
zx dx dy P x z
2 a 5 M
3a 6
M
1
(13)
where a i are displacement amplitudes of the Saint-Venant solutions to be presented. They are associated with the cross-sectional
deformational measures corresponding to these force and moment
resultants. At the root end 2 , a fully restrained condition is
assumed so that kinematic boundary conditions are met in the
variational process.
Rigid-Body Displacements
There are six distinct rigid-body displacement modes for the
cylinder, which satisfy governing Eq. 7 identically. Furthermore,
they lead to zero strains when substituted into straintransformation Eq. 4. These two sets of relations are useful identities in the solution procedure.
Let M be the total number of nodes in a given finite element
model. The matrix form of the rigid-body displacements can be
set forth with the help of the following six 3M column vectors
Ri .
I1
0
0
R1 0 ; R2 I1 ; R3 0
0
I1
0
(14)
0
0
y
R4 0 ; R5 0 ; R6 x
y
x
0
They are completely uncoupled with the extension-bendingtorsion problem. It may be possible that these deformation modes
will participate in the solution of Almansi 13 and Michell 14
problems where tractions occur on the lateral surface.
Recasting displacement field 18a in matrix form gives
U z I z I aI RB z aRB
where (I1 ,x,y) are column vectors of length M with unit entries,
the x and the y-coordinates of the M nodes, respectively. Then,
rigid-body displacement vector URB (z) has the form
URB z RB aRB zN1 N2 aRB
(15)
z2
N zN2
2 1
(19)
and
where
I I1 , I2 , I3 , I4 , I5 , I6 T
b1 r4 b2 r2
K3 R5 K2 R1 ;
b1 r5 b2 r1
(17a)
(17b)
K3 I4 K2 R4 K1 R2
Problem IExtension-Bending-Torsion
Problem I refers to extension-bending-torsion by applied tractions on the end cross section I . The displacement field for
Saint-Venants solutions can be written as
u x,y,z a I1 za I5
z2
a I6 yz
2
a
i1
Ii Iiu x,y 3 y 2 zu o
z
a I6 xz
2
a
i1
Ii Ii v x,y 3 x 1 z v o
(18a)
w x,y,z a I3 a I5 xa I4 y z
6
a
i1
(21)
K3 I5 K2 R5 K1 R1
Observe that the right-hand sides of Eq. 21 involve the primal
field I , so that the cross-sectional warpages may be said to be
driven by the displacement field embodying the kinematic hypotheses of the elementary structural theories. The warpages are elastic responses due to cross-elasticity Poisson ratio effects and the
longitudinal shear warpages of free torsion. Note also that I1 and
I2 in Eq. 21 satisfy the rigid body identities 17a so that
I1 R5 ; I2 R4 .
v x,y,z a I2 za I4
(20)
aI a I1 ,a I2 ,a I3 ,a I4 ,a I5 ,a I6 T
(16)
T
(18b)
Ii Iiw x,y 1 y 2 xw o
(22)
This result shows that the two longitudinal shear fields, xz and
yz , which are associated with a I1 and a I2 , vanish identically and
are not involved in Problem I for extension-bending-torsion.
The solution to Eq. 21 requires the inverse of K3 . Because K3
is singular due to the presence of rigid-body motion, it cannot be
factorized without administering kinematic constraints. Four
rigid-body modes, the three translations along the coordinate directions and a rotation about the z-axis must be suppressed from
K3 prior to its inverse.
Once the nodal warpages Ii s are found, the functional dependence of displacement field 18b is completely defined. Using
strain-transformation Eq. 4, identities 17b, and the anisotropic
stress-strain relation, the strain and stress components in an element can be written as
b2 n2 b1 Ie aI hb1 Ie aI 0 aI
(23a)
C0 aI 0 aI
(23b)
n 1; n x nxx; n y nyy.
i
i i
i i
(24)
FI 0,0,P 3 ,M 1 ,M 2 ,M 3 T .
(25)
These resultants can be found by integrating the stress components ( zz , xz , yz ) of Eq. 23b over each elements crosssectional area as indicated by Eq. 10 and summing the contributions of the N elements of the total cross section.
i1
hT dxdy
i1
hT C hb1 Ie dxdy aI
FI
(26)
aI FI
66 61
61
22
24
Ibb
41
42
aIa
21
aIb
41
F z
FIb
41
I34
I35
I36
I44
I45
I46
I35
I45
I55
I56
I36
I46
I56
I66
a I3
a I4
a I5
a I6
P3
M1
M 2
M3
(33b)
hT z 0 1 dx dy aII
hT 0 dx dy bII
(34)
Mx
My
P2 ;
P 1
z
z
(35)
F z
0,0,0,P 2 , P 1 ,0 T
FII
z
(36)
(27b)
shows that
(33a)
I34
1 b2 Ie b1 IIe
21
(27a)
I33
where 0 and 0 were defined in Eqs. 23a and 23b, respectively, and 1 and 1 are given by
so that
(28)
The coefficients of Ibb and its inverse contain a number of properties related to the cross section, such as the weighted-average
centroid, principal bending axes, center of twist, etc., and these
properties will be considered in the next paper of this series of
three papers.
I aII FII
22
24
Ibb
42
44
aIIa
21
aIIb
41
21
FIIb
41
(37)
The solution for amplitudes a II3 to a II6 in aIIb is given by extracting the second equation of the partitioned matrix in Eq. 37 and
solving it.
Problem IIFlexure
(38)
The coefficients a II1 and a II2 have no role in the flexure problem.
With the coefficients in aII known, the coefficients in bII can be
determined from Eq. 34 by invoking the following conditions at
z0,
F z z0 FII P 1 , P 2 ,0,0,0,P 2 e x P 1 e y T ,
RB z a RB
(29)
(30)
z 0 1 aII 0 bII
(32a)
z 0 1 aII 0 bII
(32b)
22
24
Ibb
4x4
4x2
bIIa
21
bIIb
41
22
IIab
24
IIba
4x2
IIbb
4x4
FIIa
21
21
aIIb
41
(40a)
FIIb
41
or
(31)
This equation shows that the flexural warpages are driven by the
primal field and the warpages of Problem I.
Substituting displacement field 29 into strain-transformation
Eq. 3 and the anisotropic constitutive equations gives the elements strain and stress fields as
(39)
(40b)
Although it is not obvious in the form given, the first of Eq. 40b
is identically satisfied. Upon its expansion, the results repeat that
which are contained in Eq. 38. The second of Eq. 40b enables
the solution of bIIb .
1
1
bIIb Ibb
IIbb aIIb Ibb
FIIb
(41)
The coefficients b II1 and b II2 do not have a role in the flexure
problem.
In the next paper, the cross-sectional properties of an inhomogeneous, anisotropic properties are discussed. In the third companion paper, quantitative analysis of Saint-Venants principle is
considered.
Concluding Remarks
The authors thank Rokuro Muki for his critical reading of the
manuscript and his many helpful suggestions.
Acknowledgments
References