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THIRD EDITION
The discussion of deformation involved only kinematics and geometry without the need to discuss the forces
which might be involved in causing the deformation. On the other hand, the discussion of stress related the
various forces to each other and determined the equations of equilibrium. Now we wish to relate the forces to the
deformations.
Relations that characterize the physical properties of materials are called constitutive equations. Some materials
(e.g., steel), when loaded, obey Hooke's law, which states that the extension is proportional to the force (or stress
is proportional to strain). Thus, in uniaxial loading (one dimension),
where the proportionality constant , which must be experimentally determined, is called Young's modulus or the
modulus of elasticity.
In general three-dimensional elasticity, there are nine components of stress and nine components of strain (of
which, due to symmetry, only six are unique). Thus, the three dimensional generalization of Hooke's law is
referred to as generalized Hooke's law, which states that each component of stress is a linear combination of all
the strain components; i.e., in index notation,
ij cijkl kl
w 1
1
1
1
cijkl
kl cijkl ij kl cijkl im jn kl cijkl ij km ln
mn 2
mn
2
mn 2
2
1
1
1
1
cmnkl kl cijmn ij cmnij ij cmnij ij cmnij ij mn
2
2
2
2
ij
2w
cmnij
cmnij ik jl cmnkl
kl mn
kl
2w
cklmn
mn kl
cklmn cmnkl
Voigt notation
To express the general stress-strain relation for a linear elastic material in terms of matrices , we
use what is called the Voigt notation.
In this notation, the stress and strain are expressed as
column vectors and the elasticity
tensor is expressed as a symmetric
matrix as shown below.
c1122
c1133
c1112
c1123
c2222
c2233
c2212
c2223
c3322
c3333
c3312
c3323
c1222
c1233
c1212
c1223
c2322
c2333
c2312
c2323
c3122
c3133
c3112
c3123
c1131 11
c2231 22
c3331 33
c1231 212
c2331 2 23
c3131 2 31
y y
z z
1 0 0
Q 0 1 0
0 0 1
or
1
Qij ai ij no summation on i , where a 1
1
c1111
c
1122
c
C 1133
c1112
0
c1122
c1133
c1112
c2222
c2233
c2212
c2233
c3333
c3312
c2212
c3312
c1212
c2323
c2331
0
0
0
0
c2331
c3131
c1111
An orthotropic material has
c
three orthogonal planes of
1122
symmetry. Thus, those elastic
c
C 1133
constants having an odd
number of subscripts equal
0
to either 1 or 2 will vanish.
0
An orthotropic material has 9
0
independent material
constants.
c1122
c1133
c2222
c2233
c2233
c3333
c1212
c2323
0
0
0
0
0
c3131
Cijkl ij kl ik jl il jk
Cijkl ij kl ik jl il jk
ij Cijkl kl ij kl kl ik jl il jk kl
kk ij ij ji kk ij 2 ij
For stable isotropic materials state,
K 0
E 0 and 1< 1/ 2
11 2
2
22
2
33
0
0
12 0
23 0
0
0
0
0
31 0
0 11
0 22
0 33
0 212
0 2 23
2 31
E: Youngs modulus;
v: Poisions ratio;
G: Shear modulus
K: Bulk modulus (or modulus of compression)
3 2
E
E
1 1 2
E
G
2 1
2
K
E
3 1 2
ij kkij 2 ij
ii 3 2 ii
ij
11 2
2
22
33
0
0
12 0
23 0
0
0
0
0
31 0
0 11
0 22
0 33
0 212
0 2 23
2 31
kk
1
1
1 ij kk ij
or
ij
ij
ij
kk
ij
ij
ij
2
E
1
E
3 2
& .
: , ,
=
=
,
=
,
: = 0, = 0, = 0, , , 0
, :
1/
/
/
=
0
0
0
/
1/
/
0
0
0
/
/
1/
0
0
0
0 0 0
0 0 0
0 0 0
1/
0
0
0
1/
0
0
0
1/
1/
/
= /
/
1/
/
0
0
0
0
1/
1 2
=
1 2
0
1 2
1 2
0
+
1 2
=
+
1 2
=
= G
: 2 , ,
:
=
2 1+
ij kkij 2 ij
ij
1
2
kk
ij ij
3 2
Principle of Superposition
ij , j bi ui
ij , j bi 0
ij Cijkl kl
ij 2 ij + kk ij
ij
ij ,kl
1
ui, j u j ,i
2
kl ,ij lj ,ki ki ,lj 0
ti ij n j ti
(1)
(1)
Saint-Venant Principle
The stress, strain and displacement fields caused by two different statically
equivalent force distributions on parts of the body far away from the loading points
are approximately the same.
Saint-Venant (1797-1886)
French mathematician
and mechanician
End effect
ij kk ij
E
E
1
ij ui , j u j ,i
2
ij ,kl kl ,ij lj ,ki ki ,lj 0
ij
ti ij n j ti