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Strain Analysis
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Ramadas Chennamsetti
Summary
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Deformation gradient
Green-Lagrange strain
Almansi strain
Rotation vector
Strain transformation
Principal strains
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Strain decomposition
Strain compatibility
2
Ramadas Chennamsetti
Introduction
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Distance remains constant – rigid body motion
Rigid body => Translations & Rotations
Continuum mechanics approach
3
Ramadas Chennamsetti
Introduction
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A”
y A’
A
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x
Change in position
4
Ramadas Chennamsetti
Introduction
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X(X1, X2) => Material co-
x(X1, X2) ordinate system
O X1 Material point P occupies P’ in final config
x1
Deformation csys x1x2x3 => Spatial co-ordinate system5
Ramadas Chennamsetti
Displacement
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Application of force
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x(X1, X2)
O X1
OA = X ( X 1 , X 2 , X 3 ) OA' = x( X 1 , X 2 , X 3 ) AA' = U ( X 1 , X 2 , X 3 )
~ ~ ~ ~ ~ ~
'
= OA+ AA
OARamadas ' => x = X + U
Chennamsetti
6
~ ~ ~ ~ ~ ~
Mapping
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=> x = χ X
~
()
~
Substitute material co-ordinates of the particle in
mapping function => Final position of the particle
Existence of inverse mapping
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Substitute spatial co-ordinates =>
X = χ ( x)−1 Material co-ordinates – which
material occupies the spatial
~ ~
position 7
Ramadas Chennamsetti
Mapping
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( )
scalar
φ = φ X ,t Expressed in material csys
( )
~
Mapping : x = χ X
()
~ ~
X = χ −1 x
=> φ = φ (X , t ) = φ (χ (x ), t )
~ ~
−1
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=> φ = φ (x , t )
~ ~
In indices notation
x = X + U => xi = X i + ui ( X 1 , X 2 , X 3 )
~ ~ ~
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U => rigid body motion and deformation in the
body
Deformation – important
9
Ramadas Chennamsetti
Normal strain
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⇒Deformation / normal
Strain
10
Ramadas Chennamsetti
Shear strain
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Change in angle –
measure of shear
strain / distortion
11
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Displacement
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y y y
x x x
Undeformed state Horizontal extension
Rigid body rotation
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Rigid body motion
y doesn’t effect strain
y
field – no effect on
stresses
x x
12
Vertical extension Shear deformation
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Strain
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E=
~
~
(initial length )2
13
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Green – Lagrange strain
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o
X1, x1
Q( X 1 + dX 1 , X 2 + dX 2 , X 3 + dX 3 )
P( X 1 , X 2 , X 3 )
X3, x3
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Xi – undeformed configuration, xi – deformed configuration
14
Ramadas Chennamsetti
Green – Lagrange strain
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PQ = dS, P’Q’ = ds
PQ 2 = dS . dS = dSi ei .dS j e j = dSi dS j ei . e j
~ ~ ~ ~
~ ~
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2. dX . E . dX = ds − dS = dx . dx − dX . dX
2 2 T T
~ ~ ~ ~ ~ ~ ~
~ dX = dX 1 e1 + dX 2 e2 + dX 3 e3
dx = dX + dU ~ ~ ~
dx = dx1 e1 + dx2 e2 + dx3 e3
~
~ ~ ~ ~ ~ ~ ~
15
Ramadas Chennamsetti
Green – Lagrange strain
R&DE (Engineers), DRDO
dU – infinitesimal displacement
function of (X1, X2, X3)
dU = dU ( X 1 , X 2 , X 3 )
~ ~
dui = dui ( X 1 , X 2 , X 3 )
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Use chain rule
∂ui ∂ui ∂ui
dui = dX 1 + dX 2 + dX 3 = ∇ui • dX
∂X 1 ∂X 2 ∂X 3 ~
16
Ramadas Chennamsetti
Green – Lagrange strain
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~ ~
(
dU = dui ei = ∇ui • dX ei
~
) ~
∂ui ∂ui
dU = e j • dX k ek ei = dX k e j • ek ei
~ ~ ∂x ~ ∂x ~
j ~
j ~ ~
∂ui ∂ui
=> dU =
dX k δ jk ei = dX j ei = dui ei
∂X ~ ∂X
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~
j j ~ ~
∂ui
=> dui = dX j
∂X j
17
Ramadas Chennamsetti
Green – Lagrange strain
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=> dx = dX • I + ∇ U
~ ~ ~ ~
~ 18
Ramadas Chennamsetti
Green – Lagrange strain
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T
T T T
2. dX . E . dX = dX . I + ∇U + ∇U + ∇U .∇U . dX − dX . dX
T
~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~
~ ~
~
1
~
(
E = ∇U + ∇U T + ∇U .∇U T
2 ~ ~ ~
) 19
~
Ramadas Chennamsetti
Green – Lagrange strain
R&DE (Engineers), DRDO
∂u 1 ∂u ∂v ∂w
2 2 2
εX = + + +
∂ X 2 ∂ X ∂X ∂ X
∂ v 1 ∂ u ∂ v ∂ w
2 2 2
εY = + + +
∂Y 2 ∂Y ∂Y ∂Y
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∂ w 1 ∂ u ∂ v ∂ w
2 2 2
εZ = + + +
∂Z 2 ∂Z ∂Z ∂Z
20
Ramadas Chennamsetti
Green – Lagrange strain
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∂u ∂v ∂u ∂u ∂v ∂v ∂w ∂w
γ XY = + + + +
∂Y ∂X ∂X ∂Y ∂X ∂Y ∂X ∂Y
∂w ∂v ∂u ∂u ∂v ∂v ∂w ∂w
γ YZ = + + + +
∂Y ∂Z ∂Z ∂Y ∂Z ∂Y ∂Z ∂Y
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∂u ∂w ∂u ∂u ∂v ∂v ∂w ∂w
γ XZ = + + + +
∂Z ∂X ∂X ∂Z ∂X ∂Z ∂X ∂Z
21
Ramadas Chennamsetti
Green – Lagrange strain
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∂ui
<< 1
∂x j
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Small strains known as engineering strains
Engineering strains – denoted by => εij
22
Ramadas Chennamsetti
Engineering strain
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∂v ∂u
v + dy u + dx − u
∂y D’ ∂x ∂u
C’ εx = =
dx ∂x
D
∂v
C
v + dy − v
∂y ∂v
εy = =
dy dy ∂y
∂u
u+ dx
∂x
∂u
y A’(u,v) B’ u+ dx
∂x
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A dx B
x
23
Ramadas Chennamsetti
Engineering strain
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∂u ∂v C”
u + dy, v + dy
∂y ∂y
∂v D’ D” C’
u, v + dy
∂y
D C
θ2 ∂u ∂v
u + dx, v + dx
∂x ∂x
dy B”
θ1
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∂u
y A’(u,v) B’ u + dx , v
∂x
A dx B
x
24
Ramadas Chennamsetti
Engineering strain
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θ1 ≈ ∂u
θ2 ≈
∂x ∂y
∂u ∂v
γ xy = θ1 + θ 2 ≈ +
∂y ∂x 25
Ramadas Chennamsetti
Engineering strain
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2
OP = x i + y j
y
~ ~ ~
P’(y, -x)
U P(x, y) OP '
= − y i+ x j
~ ~ ~
Linear strains –
O x
εxx= εyy = -1, γxy = 0
Non-linear strains –
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εxx= εyy = 0, γxy = 0
Rotated by 900
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εij – Tensorial strain
1
γij – Engineering shear strain ε ij = γ ij
2 28
Ramadas Chennamsetti
Displacement gradient
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In matrix form
∂u1 ∂u1 ∂u1
∂x1 ∂x2 ∂x3
∂u 2 ∂u2 ∂u2
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H ij = ui , j =
∂x1 ∂x2 ∂x3
∂u ∂u3 ∂u3
3
∂x1 ∂x2 ∂x3
29
Ramadas Chennamsetti
Displacement gradient
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[ S ]T = [ S ], [ A ]T = −[ A ]
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1 ∂u1 ∂u 2 1 ∂u 2 ∂u3
Zeros in main diagonal − 0 −
2 ∂x2 ∂x1 2 ∂x3 ∂x2
1 ∂u1 ∂u3 1 ∂u 2 ∂u3
− − 0
2 ∂x3 ∂x1 2 ∂x3 ∂x2 31
Ramadas Chennamsetti
Displacement gradient
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ui , j = ε ij + Ω ij
ui , j = (ui , j + u j ,i ) + (ui , j − u j ,i )
1 1
2 2
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=> ε ij = (ui , j + u j ,i ) => Symmetric tensor
1
2
Ω ij = (ui , j − u j ,i ) => Skew - symmetric tensor
1
2 Ramadas Chennamsetti
32
Displacement gradient
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u i , j = u j ,i
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= (ui , j + u j ,i )
1
ui , j
2
33
Ramadas Chennamsetti
Rotation vector
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1 ∂ 1 ∂u j
ω = ei ×u j ej = ei × e j
~ 2 ~ ∂xi ~ 2 ∂xi ~ ~
1 ∂u j 1 ∂u j
ω= ε ijk ek => ω k = ε ijk
~ 2 ∂xi ~ 2 ∂xi
1 ∂u1 ∂u3
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Say, k = 3, i, j = 1, 2 => ω 3 = −
2 ∂x3 ∂x1
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eijk – skew symmetric matrix in ‘i’, ‘j’
1 1
ω k = − Ω ji e jik => elmkω k = − Ω ji e jik elmk
2 2 35
Ramadas Chennamsetti
Rotation vector
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1 1
ωk = − Ω jie jik => elmkωk = − Ω ji e jik elmk
2 2
e jik elmk = δ jlδ im − δ jmδ il
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2 2
− elmkωk = Ωlm
36
Ramadas Chennamsetti
Rotation vector
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For constant rotation
1 ∂v ∂u
ω z = − => (c + c ) => c = ω z
1
2 ∂x ∂y 2 37
Ramadas Chennamsetti
Rotation vector
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∂u ∂v ∂w ∂v ∂w ∂u
γ xy = + = 0 γ yz = + = 0 γ zx = + = 0
∂y ∂x ∂y ∂z ∂x ∂z
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Integrate these equations – integration constants
38
Ramadas Chennamsetti
Rotation vector
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Basic assumption – small deformation theory
Small deformation theory – Principle of
superposition
39
Ramadas Chennamsetti
Transformation of strain
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[ε ] = [T ][ε ][T ]
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' T
ε y = lε xy + mε yy + nε yz = mε (ε l ij j − δ ij εl j ) = 0
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ε z = lε xz + mε yz + nε zz = nε For non-trivial solution
determinant = 0
41
Ramadas Chennamsetti
Principal strains
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Determinant (ε ij − δ ij ε ) l j = 0
=> ε ij − δ ij ε = 0 Expand this
ε − I1ε + I 2ε − I 3 = 0
3 2
Ii - Invariant
I1 = ε x + ε y + ε z
εx ε xy ε x ε xz ε y ε yz
I2 = + + First invariant I1
ε xy ε y ε xz ε z ε yz εz
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εx ε xy ε xz known as cubical
I3 = εy ε yz dilatation
symm εz
42
Ramadas Chennamsetti
Strain decomposition
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pure cubical dilatation
Tr[εd] = 0 => Trace of deviatoric strain tensor is
zero
43
Ramadas Chennamsetti
Strain compatibility
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∂ 2ε xx ∂ 3u ∂ 2 ∂u ∂ 2ε yy ∂ 3v ∂ 2 ∂v
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= 2 = = 2 =
∂y 2
∂y ∂x ∂y∂x ∂y ∂x 2 ∂x ∂y ∂y∂x ∂x
Add these two equations
∂ 2ε xx ∂ ε yy ∂ γ xy One compatibility equation
2 2
+ =
∂y Ramadas
2
∂x Chennamsetti
2
∂x∂y 44
Strain compatibility
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∂ 2 ε yy ∂ 2 ε zz ∂ γ yz
2
− + = 2
+ = ∂y ∂ x ∂y ∂z ∂ x ∂z
∂z 2
∂y 2
∂y∂z
(i = j = 2, k = 3, l = 1)
(i = j = 2 , k = l = 3 )
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∂ ∂γ yz ∂γ xz ∂γ xy ∂ 2ε zz
∂ 2 ε xx ∂ 2 ε zz ∂ 2 γ xz + − = 2
+ = ∂z ∂x ∂y ∂z ∂ x∂ y
∂z 2
∂x 2
∂x∂z
(i = j = 3, k = l = 1) (i = j = 3, k = 1, l = 2 )
45
Ramadas Chennamsetti
Strain compatibility
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For well conditioned system => Number of
equations = number of unknowns
Three more extra equations required
46
Ramadas Chennamsetti
Strain compatibility
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Strain-displacement relations => 6
Independent strain compatibility equations => 3
=> Number of unknowns = number of equations
47
Ramadas Chennamsetti
Strain compatibility
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48
Ramadas Chennamsetti
Strain compatibility
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Integrated to get
displacements
Gaps & overlaps -
incompatibility 49
Ramadas Chennamsetti
Polar co-ordinates
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Use strain-displacement relations in cartesian
co-ordinates – convert to polar co-ordinates
Derive from polar co-ordinates
50
Ramadas Chennamsetti
Polar co-ordinates
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y
r θ
θ eθ ex
x
x er
1
2 ~
(
Cartesian strain => ε ij = ∇ U + ∇ U
Ramadas Chennamsetti ~
T
) 51
Polar co-ordinates
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y
y = r sin θ y
Tanθ =
z=z x
52
Ramadas Chennamsetti
Polar co-ordinates
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∂ ∂ ∂r ∂ ∂θ ∂ sin θ ∂
= + = cos θ −
∂x ∂r ∂x ∂θ ∂x ∂r r ∂θ
∂ ∂ ∂r ∂ ∂θ ∂ cos θ ∂
= + = sin θ +
∂y ∂r ∂y ∂θ ∂y ∂r r ∂θ
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Substitute all these
∂ 1 ∂ ∂
∇ = er + eθ + ez
~ ∂r ~ r ∂θ ~ ∂z 53
Ramadas Chennamsetti
Polar co-ordinates
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1
r ∂θ − uθ eθ er + r ur + ∂θ eθ eθ + r ∂θ eθ ez +
~ ~ ~ ~ ~ ~
∂ur ∂uθ ∂u z
e e + e e + e e
∂z ~z ~r ∂z ~z ~θ ∂z ~z ~z
54
Ramadas Chennamsetti
Polar co-ordinates
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Strain => ε =
~
1
2
[
∇U + ∇U
~ ~
( ) ] T
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1 ∂uθ 1 ∂u z 1 ∂ur ∂u z 1 1 ∂ur ∂uθ uθ
εθz = + , ε zr = + , ε rθ = + −
2 ∂z r ∂θ 2 ∂z ∂r 2 r ∂θ ∂r r
55
Ramadas Chennamsetti
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56
Ramadas Chennamsetti