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1. Introduction
Usually, the mathematical model of elasticity can be divided into two parts. One is
the basic equation which includes the equilibrium equations, constitutive laws and
the kinematic relations. The other is the boundary condition which can be distinguished into traction-boundary-, displacement-boundary- and mixed-boundary-value
problems. Once a problem is formulated based upon the basic equation, its solvability
is usually dependent on the boundary condition. As to the same boundary geometry, the mixed boundary-value problems are more difficult than the traction- or
displacement-boundary-value problems. Therefore, the usual step to attack the elasticity problems is from simple geometry to complicated geometry, then from traction
(or displacement) boundary to mixed boundary. This is exactly the step we took in
our recent work (Hwu 1990; Hwu & Yen 1993; Fan & Hwu 1996, 1998). Hence, after
solving the problems for straight and elliptic boundaries, we now like to deal with
the problems with more complicated boundaries.
When the boundary geometries are simple like the straight boundary, the main
concern is the development of a systematic approach for solving the mixed boundaryvalue problems. This has been done in Fan & Hwu (1996) by combining the Stroh
formalism for two-dimensional anisotropic elasticity and the analytical continuation
method for the manipulation of complex variables. As to the problems with elliptical
boundary (Fan & Hwu 1998), we emphasize upon the introduction of conformal
mapping functions. However, it is found that there are many practical boundary
Proc. R. Soc. Lond. A (1998) 454, 12691282
Printed in Great Britain
1269
1270
ij = Cijks ks ,
(2.1)
where ui , ij and ij are, respectively, the displacement, stress and strain; the repeated indices imply summation; a comma stands for differentiation and Cijks are the
elastic constants which are assumed to be fully symmetric and positive definite.
For two-dimensional problems in which x3 does not appear in the basic equations
or the boundary conditions, the general solution to equations (2.1) may be expressed
in terms of three holomorphic functions of complex variables (Stroh 1958; Lekhnitskii
1963). This enables us to apply many of the powerful results of complex function
theory to the two-dimensional elasticity. For the latter use of derivation, we now list
a compact matrix form solution (Stroh 1958; Ting 1996) which satisfies all the basic
equations given in (2.1), i.e.
u = 2 Re{Af (z)} = Af (z) + A f (z),
where
A = [a1 a2 a3 ], B = [b1 b2 b3 ],
f (z) = [f1 (z1 ) f2 (z2 ) f3 (z3 )]T , z = x + p y,
)
= 1, 2, 3.
(2.2 b)
i2 = i,1 ,
,
s
(2.2 c)
(2.2 d)
1271
where s is the arc length measured along the curved boundary; p , =1,2,3, are
the material eigenvalues whose imaginary parts have been arranged to be positive;
(a , b ), = 1, 2, 3, are their associated eigenvectors; f (z ), = 1, 2, 3, are three
holomorphic complex functions to be determined by satisfying the boundary conditions. The superscript T denotes the transpose and the overbar represents the
conjugate of a complex number.
Note that (Suo 1990, Hwu 1993) during the derivation through the method of analytical continuation (Muskhelishvili 1954) , the argument of each component function
of f (z) is written as z = x + py without referring to its associated eigenvalues p .
Once the solution of f (z) is obtained for a given boundary-value problem, a replacement of z1 , z2 or z3 should be made for each component function to calculate field
quantities from (2.2). In other words, the function vector f (z) obtained through the
method of analytical continuation has the form of
f (z) = [f1 (z), f2 (z), f3 (z)]T ,
z = x + py,
(2.3)
which is not consistent with the solution form shown in (2.2 b) and is valid only along
the boundary y = 0. To get the explicit full-field solution, a mathematical operation
based upon the above statement is needed (Hwu 1993).
z L,
t(
z ) = O,
z C L,
(3.2)
instead of (3.1). Besides (3.1) or (3.2), there are other kinds of mixed boundary
Proc. R. Soc. Lond. A (1998)
1272
conditions such as
z) = b
ti (
z ), i = 1 and/or 2 and/or 3,
ti (
z) = u
bj (
z ), j 6= i, z C,
uj (
z C,
)
(3.3)
which will not be studied in this paper but may be solved in a similar way.
In the literature, there are many discussions and solutions to the stress and displacement boundary-value problems. Relatively few solutions are devoted to the
mixed boundary-value problems due to its rather more awkward nature than the
other two. Recently, by combining the Stroh formalism and the method of analytical
continuation, we obtain a series of analytical solutions to the punch problems which
are types of mixed boundary-value problems (Fan & Hwu 1996, 1998). In those studies, we consider the boundary conditions with straight or elliptical boundaries. In
this paper, we like to give a further study for the boundary condition (3.2) with C
being perturbed by a straight line or elliptical contour.
A typical example of boundary condition (3.2) is the punch indentation problem
where the half-plane and the punch are assumed to be in full contact without slip.
If slip condition is assumed, the boundary condition will be in a form similar to
(3.3). The solution to this kind of boundary conditions has been found in Hwu &
Fan (1998) for the problems with straight boundaries. By referring to the method
employed in the present paper and that used in Hwu & Fan (1998), it is possible to
study the increasing or receding contact as the punch is pressed upon a wave-shaped
surface.
(4.1)
where (x) is a wave-shape function such as cos x. Along this boundary the displacements and stresses are prescribed as shown in (3.2) of which the displacement
prescribed boundary L may be the union of a finite set of segments Lk = (ak , bk ),
k = 1, 2, . . . , n.
In order to solve such a mixed boundary-value problem, we let the complex function vector f (z) be expanded in the following perturbation form:
f (z) = f0 (z) + f1 (z) + 2 f2 (z) + .
(4.2)
z = x + p[y (x)],
1273
accompanied with the argument z of which the subscript has been dropped during
the derivation by the method of analytical continuation as discussed in the paragraph
following (2.2). Surely, once the solution is obtained, a replacement of z1 , z2 or z3
together with their corresponding p should be made for each component function
to evaluate the full field solution.
With (2.2 a), (2.2 d) and (4.3), the conditions (3.2) along the perturbed boundary
z = x can be expressed as
)
(
2Re{A[f0 (x ) + (f1 (x ) + p(x )f00 (x )) + ]} = u
z ), x L,
(4.4 a)
2Re{B[f0 (x ) + (f1 (x ) + p(x )f00 (x )) + ]} = O, x 6 L,
(
where u
z ) is assumed to depend on and be expanded into series of as
(
0 (x) +
2 (x) + ,
u
z) = u
u1 (x) + 2 u
(4.4 b)
and a value with superscript denotes that it is approaching from S which stands
for the region under the straight perturbed boundary. By comparing the coefficients
of k (k = 0, 1, 2, . . .) on both sides of equation (4.4), we obtain
(
0 (x), x L,
2Re{Af0 (x )} = u
6
L,
2Re{Bf
0 (x )} = O,
1 (x), x L,
2Re{A[f1 (x ) + p(x )f0 (x )]} = u
6
L,
2Re{B[f
1 (x ) + p(x )f0 (x )]} = O,
(
00
2 (x), x L,
2Re{A[f2 (x ) + p(x )f10 (x ) + 12 (p(x ))2 f0 (x )]} = u
00
..
(4.5)
The first set of equations in (4.5) for the zero-order perturbation is identical to that
for the mixed boundary-value problems with straight boundary y = 0, whose solution
z ) has been found in Fan & Hwu (1996) as
f00 (
Z
1 1
1
0
00 (t) dt + B 1 Xs (
B Xs (
[X + (t)]1 M u
z) =
z)
z )ps (
z ),
(4.6)
f0 (
2
s
L tz
1 (x), x L,
Af1 (x ) + p(x )Af00 (x ) = Af1 (x ) p(x )Af00 (x ) + u
Bf1 (x ) + p(x )Bf00 (x ) = Bf1 (x ) p(x )Bf00 (x ),
Proc. R. Soc. Lond. A (1998)
x 6 L.
(4.7)
1274
Since both f1 (
z ) and p(
z )f00 (
z ) are holomorphic in S , by the theory of complex
variable functions,
f1 (
z ) and p(
z )f00 (
z)
+
z ) such that
would also be holomorphic in S . If we introduce a new function 1 (
Bf1 (
z ) + p(
z )Bf00 (
z ), z S ,
1 (
z) =
(4.8)
[Bf1 (
z ) + p(
z )Bf00 (
z )], z S + ,
z ) is sectionally holomorphic in the whole plane except
we can conclude that 1 (
possibly on some segments of the x-axis, and (4.7) can now be expressed in terms of
1 (
z ) as
1 (x),
1 (x+ ) + M M 1 1 (x ) = iM u
x L,
1 (x+ ) 1 (x ) = O,
x 6 L.
(4.9)
Equation (4.9) is in the form of Hilbert problem whose solution is (Hwu 1992)
Z
1
1
1 (t) dt + Xs (
Xs (
[Xs+ (t)]1 M u
z) =
z)
z )ps (
z ),
(4.10)
1 (
2
t
L
in which the polynomial vector ps (
z ) should be determined by the loading condition.
With this result and the definition given in (4.8), the first-order perturbation solution f1 (
z ) can be obtained directly. In a similar way, the higher-order perturbation
solution can be solved step by step.
N
x = a cos +
(ck cos k + dk sin k) ,
k=1
(5.1)
N
X
y = a c sin +
(ck sin k + dk cos k) .
k=1
(5.2 a)
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where zo = x + iy and
zoe = o () = a{ 12 (1 + c) + 12 (1 c)(1/)},
o () =
N
X
a(ck + idk ) k .
(5.2 b)
k=1
Note that the subscript o is used to denote that the transformation is related to the
isotropic media whose material eigenvalues p = i and their associated arguments
z (= x + p y) becomes zo . Whereas the superscript e is used to denote that the
transformation is related to the corresponding elliptical opening.
In order to make the transformation, equation (5.2), single-valued and conformal
it is necessary that all the roots of equation, by differentiating (5.2) with respect
to ,
(5.3)
o0 () + 0o () = 0,
be expressed on the plane by points located inside of the unit circle || = 1. We
will always consider that the coefficients ck , dk and parameter are such that this
condition is satisfied.
In order to employ the Stroh formalism of which the undetermined holomorphic
functions f (z) = {f1 (z1 ) f2 (z2 ) f3 (z3 )}T are expressed in terms of the arguments
z (= x + p y), = 1, 2, 3, the transformation function between z and should be
found. Since the transformation function between zo and is expressed in terms of
polynomial series of , we may also assume that z is a function of polynomial series
of . By considering the mapping of the opening boundary whose = ei and x, y
are given in (5.1), we obtain
(5.4 a)
z = ze + (),
where
ze = w () = 12 a{(1 ip c) + (1 + ip c)(1/)},
N
X
1
() = 12 a
(ck idk )(1 + ip ) k + (ck + idk )(1 ip ) k ,
k=1
= 1, 2, 3.
(5.4 b)
Note that although o (), o () + o () and () may be single-valued under a
certain condition, e.g. (5.3). () + () is usually non-single-valued. Hence, it
is possible to get the exact solutions for the isotropic media with an elliptical or a
polygonal opening, and for the anisotropic media with an elliptical opening. To solve
the problems of the anisotropic media with general curvilinear openings, we like to
use the solutions for the anisotropic media with an elliptical opening as a reference.
Then, by the perturbation technique an approximate solution for the anisotropic
media with openings slightly different from ellipse may be found. To this end, the
first step we need to take is to find the reference argument ze (= xe + p y e ) of the
problem with an elliptical opening if a corresponding point zo (= x + iy) is given
for the problem with an opening boundary of (5.1). The procedure is described as
follows.
(1) Given the position (x, y) on the physical domain z which contains an opening
described by (5.1).
(2) Calculate zo by using zo = x + iy.
(3) Calculate by inverting zo = o () + o (), which should be single-valued
since the condition set in (5.3) is required.
(4) Calculate ze by ze = ().
Proc. R. Soc. Lond. A (1998)
1276
Like the problem of straight boundary perturbation, we now expand the complex
function vector f (z) in the following perturbation form
f (z) = f0 (z) + f1 (z) + 2 f2 (z) + .
ze
With
as
(5.5)
(5.6)
0 (), L,
2Re{Af0 ( + )} = u
(
)}
=
O,
6
L,
2Re{Bf
0
+
+
0
+
1 (), L,
2Re{A[f1 ( ) + ( )f0 ( )]} = u
+
+
0
+
(
)
+
(
)f
(
)]}
=
O,
6
L,
2Re{B[f
1
0
(
00
2 (), L,
2Re{A[f2 ( + ) + ( + )f10 ( + ) + 12 2 ( + )f0 ( + )]} = u
00
1 2
+
+
0
+
+
+
..
(5.10)
Like the problem of straight perturbed boundary, the first equation set of (5.10)
for the zero-order perturbation is identical to that for the mixed boundary-value
problems with elliptical boundary, whose solution f00 (z e ) has been found in Fan &
Hwu (1998) as
Z
1
1
L
(5.11)
p
where = a sin2 + c2 cos2 and ei = s. Xe () is the Plemelj function for
the
arc,
1
which is holomorphic in the whole plane cut along L and Xe+ () = M M Xe (),
Proc. R. Soc. Lond. A (1998)
1277
1 (), L,
Af1 ( + ) + ( + )Af00 ( + ) + Af1 ( + ) + ( + )Af00 ( + ) = u
Bf1 ( + ) + ( + )Bf00 ( + ) + Bf1 ( + ) + ( + )Bf00 ( + ) = O,
6 L.
(5.12)
Unlike the straight boundary perturbation, due to the form of () given in (5.4 b)2
(z)f00 (z) will not be holomorphic in S + or S . To find a sectionally holomorphic
function, we need to seperate () in (5.12) into two parts. One is holomorphic in
S + , the other is holomorphic in S . With this separation, using the following relation
(Fan & Hwu 1998):
1
i 0
1
u
(),
L,
+
Af00 ( + ) = 2 Af00
(5.13)
1
1
, 6 L,
Bf00 ( + ) = 2 Bf00
and introducing
Bf1 () + 2 a
(ck + idk )[1 ip + (1 ip) 2 ] k Bf00 (), S + ,
k=1
1 ()
N
1 k
1
1
1
0
Bf1 2 a
k=1
(5.14)
equation (5.12) can be rewritten as the following Hilbert problem of vector form:
)
6 L,
1 ( + ) 1 ( ) = O,
(5.15 a)
1
1 (),
L,
1 ( + ) + M M 1 ( ) = M u
where
1 ()
u
N
X
k1
0
1 ()
=i u
Re[ia(ck idk )(1 + ip) ]
u0 () .
(5.15 b)
k=1
Since f0 () and f1 () are holomorphic in the elastic body S + , from the theory of
complex variable functions
f0 (1/)
and f1 (1/)
L
Proc. R. Soc. Lond. A (1998)
1278
6. Illustrative examples
(a ) A rigid flat-ended punch on a cosine wave-shaped boundary
Consider a single rigid punch with a flat-ended profile indenting into the cosine
wave-shaped surface of an anisotropic elastic half-plane. If the wave-shaped surface
is slightly perturbed from a straight line by a small amount in amplitude, it may
be expressed as
y = (x), (x) = cos x.
(6.1)
During the indentation, the punch is assumed to completely adhere to the halfplane over the contact region |x| 6 a in such a way that no slip occurs. Thus, the
displacement of the surface of the half-plane is known at each point of the contact
(
region, and will be u
z ) = ci2 (x)i2 , or
0 = ci2 ,
u
1 = (x)i2 ,
u
(6.2)
To find the solution to this problem, we first calculate the zero-order perturbation
00 (x) = O, and Xs (
solution f00 (
z ) from (4.6) in which u
z ) and ps (
z ) can be obtained
from (A 2) and (B 1), (B 2) as
1 1
,
Xs (
q
z ) = s (
z ), ps (
z) =
(6.4 a)
2i s
where
i
z a
1
.
(6.4 b)
(
z) =
z2 a2 z + a
00 (x) = O, we obtain
Substituting (6.4) into (4.6) with u
1 1
.
B s (
f00 (
z) =
z )1
(6.5)
s q
2i
z ), the sectionally holomorphic
To find the first-order perturbation solution f10 (
function 1 (
z ) derived in (4.10) should be evaluated first, in which the only unknown
remaining to be determined is the polynomial vector ps (
z ). By (6.3), we see that
is considered when we solve the reference solution f0 (
the total applied force q
z)
and no extra loading is applied on the perturbed problem. This implies that the
polynomial vector ps (
z ) is identical to zero for the first-order perturbation solution.
With this result, 1 (
z ) is completely determined by the integral term of (4.10) with
1 (x) = cos xi2 , which may be evaluated with the aid of the residue theory (please
u
refer to Hwu (1992) and Fan & Hwu (1996) for the detailed illustration of the integral
evaluation). The result is
1 (
z ) = i cos z(M 1 + M
Proc. R. Soc. Lond. A (1998)
1 1
i2 .
(6.6)
1279
Substituting (6.5) and (6.6) into (4.8)1 , and using the normalization relation
1
1 T
(M 1 + M )s = I, we now obtain the first-order perturbation solution as
2 s
i cos z 1
T
).
B s (s i2 + p (
z )1
(6.7)
s q
2
In a similar way, the higher-order perturbation solution can also be obtained step by
step. The complete solution to the present problem may then be expressed by
z) =
f1 (
f (z) = f0 (
z ) + [f1 (
z ) + p(x)f00 (
z )] + 2 [f2 (
z ) + p(x)f10 (
z ) + 12 p2 2 (x)f000 (
z )] + .
Note that a replacement of the function argument z1 , z2 or z3 (including the material
eigenvalues p1 , p2 or p3 ) should be made for each component function of f (z) to
calculate field quantities from (2.2).
(b ) A rigid stamp on a triangular hole boundary
The previous example shows how to apply the results obtained in 4 for straight
boundary perturbation to solve a real problem. To illustrate the application of the
results obtained in 5 for the elliptical boundary perturbation, we now choose an
opening whose contour differs slightly from that of an ellipse. To avoid tedious mathematical calculation, a relatively simple opening represented by (5.1) with N = 2,
c1 = d1 = d2 = 0, c2 = 1, = 0.25 will be considered in this example. By actually
plotting this contour, we see that it is an opening differing little from an equilateral triangle with rounded corners. If an anisotropic plate is given with this kind of
over a segment, which is
opening and is indented by a rigid stamp under force q
mapped onto an arc L = (ei , ei ) in the -domain, the stress and strain fields to
this problem may now be solved by applying the solutions obtained in 5. Since the
stamp is also assumed to completely adhere to the hole boundary, the displacement
(
along the contact region will be a constant value. Hence, u
z ) = const. along L. Note
that this condition is different from that given in equation (6.2). In that case the
punch profile (flat ended) differs from the wavy surface on initial contact, while in
the present example, the surfaces of the stamp and the hole boundary are assumed
to be perfectly matched on initial contact and during the subsequent indentation.
To find the solution to this problem, we first calculate the zero-order perturbation
00 (s) = O, and Xe () and pe () can be obtained
solution f00 () from (5.11) in which u
from (A 7) and (B 4) as
Xe () = e (),
pe () = d2 2 + d1 + d0 + d1 1 ,
where
() = hh( ei )(1/2)i ( ei )(1/2)+i ii,
d0 =
1
T
,
hhe2 ii1
e BA q
2i
and
z+
d1 =
1 1
,
BAT q
2i e
d1 = O,
d2 = O,
(6.8 b)
z 2 a2 (1 + c2 p2 )
, z = x + py.
a(1 icp)
00 (s) = O, we obtain
Substituting (6.8) into (5.11) with u
2
1 1
e
T
T
1
.
f00 () =
B e () 1
BA
+
BA
q
e
e
2i
(6.8 a)
(6.8 c)
(6.9)
1280
To find the first-order perturbation solution f10 (), we first consider the solution
00 () = u
1 () = O, we have u
1 () = O.
1 () obtained in (5.16). By (5.15 b) with u
Moreover, pe () = O due to the same reason stated in the previous example. Hence,
1 () = O by (5.16). Substituting this result into (5.14)1 , we obtain
f1 () = 12 a[(1 ip) 2 + (1 ip)]f00 ().
(6.10)
7. Concluding remarks
The general solution (2.2) satisfies all the basic equations for the two-dimensional
anisotropic elasticity. The only unknown in this general solution is the complex function vector f (z) which shall be determined through the satisfaction of the boundary
conditions. Usually, there are two ways to determine f (z). One is the semi-inverse
method, the other is the method of analytical continuation. The former always
depends upon the knowledge of corresponding isotropic solutions or known physical behaviours, which is unknown in the present problem. Hence, we employ the
method of analytical continuation to solve our problems. Since the boundary geometry considered is the one perturbed by a straight line or an ellipse, f (z) is expanded
into a perturbation series. The zero-order solution of this perturbation series is found
to be exactly the one for the straight or elliptical boundary problems, which has been
found in our previous work. As to the first-order solution for the straight perturbation boundary, results are obtained in (4.8) and (4.10), and illustrative example is
given in 6 for a cosine-wavy surface indented by a rigid flat-ended punch. When
the boundary contour is slightly different from an ellipse, the first-order solution is
obtained in (5.14) and (5.16) which are written in terms of the mapped variable
because the corresponding zero-order solution is found by introducing a mapping
function which transforms a region outside an ellipse in the z -plane to a region
outside a unit circle in the -plane as shown in (5.4 b)1 . The illustrative example for
the elliptical perturbation boundary is then presented by considering a triangular
hole boundary indented by a rigid stamp.
The authors acknowledge the support by National Science Council, Republic of China, through
grant no. NSC 86-2212-E006-056.
(A 2 a)
(z) =
Y
n
1281
(1+ )
(z aj )
(z bj )
(A 2 b)
j=1
) = O.
(A 3)
The explicit solutions for the eigenvalues are (Fan & Hwu 1996)
= 12 + i ,
where
1 = =
=
[ 12
1+
1
ln
,
2 1
2
1/2
tr(S )]
= 1, 2, 3,
2 = ,
(A 4 a)
3 = 0,
T
S = i(2AB I),
(A 4 b)
tr stands for the trace of matrix. To have a unique eigenvector matrix, s is normalized by
1 T
(M 1
2 s
+ M 1 )s = I.
(A 5)
(b) Xe ()
The plemelj function matrix Xe () for an elliptical boundary is a matrix containing
sectionally holomorphic functions which satisfy the following relations:
Xe+ () = Xe (), 6 L,
(A 6)
1
Xe+ () + M M Xe () = O, L.
Note that equations (A 1) and (A 6) are the same if we interchange M and M . With
this observation, it can easily be proved that the eigenvalues of these two problems are
the same and their corresponding eigenvectors are conjugates of each other. Hence,
Xe () = e (),
(A 7 a)
e = s .
(A 7 b)
where
(B 1)
1 1
q.
2i s
(B 2)
1282
(B 3)
where
Pnqk is the known resultant force vector applied on the kth punch Lk and
q = k=1 qk .
(b) pe ()
Consider the infinity and zero conditions, it can be shown that
pe () = d1 1 + d0 + d1 + d2 2 + + dn+1 n+1 ,
(B 4)
where the unknown coefficients di can be determined by the infinity and zero conditions, as well as the loading conditions as that shown in (B 3). Details about the
determination of pe () for one punch example can be found in Fan & Hwu (1998).
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