DEN102 Stress Analysis

Principal Stress

Dr P.H. Wen

Aims
1. Recognise the stress and strain tensors ; 2. Understand stress state of point and how to calculate principal stresses and their directions; 3. Recognise why principal stresses and their directions are useful; 4. Understand what a yield criterion is and how it can be used.

Structure Stress Analysis

Analytical solution
Hand calculation: beam, truss, shaft

Numerical solution
ANASYS, ABAQUS, DYNA, IDEAS

8.1.

Normal and Shear Stresses in Solid

In general objects, i.e. multidimensional objects, they are generated by exterior forces F, distributed loads or pressures p. Exterior loads result in interior forces, which are resultants of interior stresses. At an arbitrary cut at S-S (see figure), these stresses act on the surface. There are normal stresses (orthogonal to the surface) and tangential or shear stresses (parallel to the surface).

The stress vector t at a point P is defined by r r r F d F = t = lim A 0 A dA It is a vectorial sum of shear and normal stress:
P = P

8.1

r r r r r r d F d Fn + d F d Fn d F t= = = + =+ dA dA dA dA
On the opposite surface of the cut, stresses occur in the opposite direction.

t
Force diagram:

Page 4

8.2. General Stress State (Three Dimensional Element)

ELEMENT
A three dimensional rectangular element is of differential size: dxdydz=dV Positive surfaces +ve Negative surfaces -ve Element is in a state of uniform stress.

yz

yx

dy

zy
z

xy

x
x

zx xz
dz dx

Page 5

 The stresses depend on the direction of the cut, i.e. the orientation of the surface area A. Generally, a Cartesian coordinate system is chosen (see Figure 8.1) The total stress state is determined by the normal and shear stresses at six surfaces of an infinitesiminal volume element (see Figure 8.1). This element is normally defined with surfaces orthogonal to the coordinate directions. The values of all stresses change if the volume element is cut in a different orientation (i.e. coordinate transformation 8.2). Positive direct stress are defined as tensile stresses ; negative as compressive stresses .

y yx xy

yz zy z
z
Figure 8.1

x
x

zx xz

y yz zy zx z

yx

xy

x
x

xz

z
Figure 8.2 Page 6

8.3. General Stress State (in Matrix Form)

The normal and shear stresses are represented by the stress matrix also named stress tensor Stresses with nonidentical indices are shear stresses, the other are normal stresses; the latter are on the diagonal of the matrix. y x xy = ; yx y Two-dimension

x xy xz = yx y yz zx zy z
Three-dimension
Normal stresses

(8.2)

yz zy z
z
Figure 8.3

yx

x = yx zx
xy x
x

xy y zy

xz yz z

Shear stresses

zx

xz

x xy xz = yx y yz zx zy z
Page 7

8.4. Corresponding Shear Stresses

This can be seen by taking the sum of the moments with respect to point O, i.e. y y y

yx

yz yz = zy zy z

y yx

xy = yx xy x
x xz = zx

xy
dy
O

xy

x
x

dx

zx

xz

dy( yx dxdz) dx ( xy dydz) = 0 The consequence is that the stress matrix is symmetric therefore ( yx xy ) dV = 0
O

= 0:

yx

Figure 8.4

yx = xy

(8.3a)

Shear stresses at two surfaces, which are perpendicular to one another are equal There are hence for each point if the structure 6 unknown stresses to be (8.3b) xy = yx ; yz = zy ; xz = zx determined in stress analysis
Page 8

x xy xz = xy y yz xz yz z

8.5. Two Dimensional Element (Plane Stress)

Plane stress state:

xz = yz = z = 0

The stress tensor in matrix form is then

x xy = xy y 0 0
or

0 0 0

(8.4)

x xy = xy y

(8.5)

y y

xy x

xy
dx

yx
dy

xy x
x

yx
Figure 8.5

y
Page 9

Example 8.0:
Illustrate stress state using stress tensor in matrix form (unit= N/mm2) 50 70 150 80 30 100 40 30 60

(a)

(b)

(c)

Page 10

8.6. Stresses in Straight Bar

Normal exterior forces F leads to normal stresses in the interior (constant over the cross section A) F A
cut S-S S S

F = [ N/m 2 ] A

(8.6)

Interior normal force N is the resultant forces of normal stresses

F N N

N = d A = A [ N]
A

(8.7)

Figure 8.6 Non-perpendicular cut S-S (glue)

If the cut is not perpendicular to the axis of the beam, a normal force F leads to normal stresses and shear stresses

= =

Fn F cos F = = cos 2 = cos 2 A A / cos A F F sin F = = sin cos = sin cos A A / cos A
(8.8)

F A =

F F

A cos

Fn F F
Figure 8.7

Fn
Page 11

8.7. Normal Stresses due to Bending Moments

Bending moment leads to linear distributions of normal stresses Mb
cut S-S S S equivalent to
Deformed beam

Mb

Mb z = y [ N/m 2 ] Ix
Undeformed beam

(8.8)

Mb

max
Figure 8.8

max

Page 12

8.8. Shear Stress in Cylinder by Torque

Normal exterior torque T0 leads to shear stresses in the interior T0
cut S-S S S (8.9)

T0

TR Tr 2 = [ N/m ], max = J J
Interior torque T is the resultant forces of shear stresses

T0

A T

max
(8.10)

T = (r )r d A =
A

T 2 r d A=T JA

max

Figure 8.9

Page 13

Summary of Today 1. State of Stress at Point (Element) 2. State of Plane Stress 3. Stress Tensor

Page 14

Example 1 (individual) A hollow shaft, of external diameter D2 and internal diameter D1, where D1/D2=1/3, is required to transmit a torque of 100kNm and compressive axial load 1500kN as shown in Figure. If D2 is selected as 200mm, illustrate stress state on outer surface of the shaft using stress tensor in matrix form (unit= N/mm2)
propeller 1500kN 100kNm

shaft

D1 D2

8.9. Coordinate Transformation

If stresses are known for one coordinate system and stresses for another coordinate system are to be derived, one uses the following equations (balance of force in local coordinate x oy ): y y

xy

xy

dA
O

xy x
x

i x

= 0 in x direction (dA = c t, t is thickness of element) : ( y dA sin ) sin ( xy dA sin ) cos = 0

x dA ( x dA cos ) cos ( xy dA cos ) sin

xy y

i y

= 0 in y direction

x (normal)

xy dA + ( x dA cos ) sin ( xy dA cos ) cos

( y dA sin ) cos + ( xy dA sin ) sin = 0
Therefore

y
y
x

xy

b
c a

x
xy xy

x
Figure 8.10

1 1 x = ( x + y ) + ( x y ) cos 2 + xy sin 2 2 2 1 xy = ( x y ) sin 2 + xy cos 2 2

(8.12)

Page 16

Example 8.1
At a point of steel plate, the state of plane stress (2D) is defined by , where

100 50 2 = N/mm 50 50
with respect to the axes xoy. Fine the stresses (normal and shear) for the same point acting on the plane orientated at angle 450 to the x-axis.

50
50
100
100 50

450
x

50

Page 17

Example 8.2
At a point of steel plate, the state of plane stress (2D) is defined by , where

150 75 2 = N/mm 75 50
in the coordinate xoy . Determine the stress matrix for the same point with respect to the axes x oy , where x lies at 400 anticlockwise from x. Sketch the element in the axes x oy and the stresses acting on its faces.

50

75
40
0

40 0
x

150

Page 18

Example 8.3
Variation of stresses (normal and shear) with rotation angle of normal to the x-axis

x = 64 N/mm

2 2

32

y = 32 N/mm xy = 20 N/mm
2

20
x

xy

64

64
20 32

15

30

45

60

75

90

105

120

135

150

165

180

xy

Page 19

Example 8.3
Variation of stresses (normal and shear) with rotation angle of normal to the x-axis

x = 64 N/mm

32

y = 32 N/mm 2 xy = 20 N/mm
2

20

xy

Answer: Stresses acting on the face orientated with from (8.12) are

64

64
20 32

x = 16 + 48 cos 2 + 20 sin 2 xy = 48 sin 2 + 20 cos 2

80 60 40 20 0 -20 -40 -60 0 15 30 45 60 75 90 105 120 135 150

x
165 180

xy
Page 20

8.10. Principal Stresses (Method 1)

The value of the stresses depend on the choice of the coordinate system: we do not know the highest normal or the highest shear stress. For evaluation of yield, failure or fatigue independent (invariant) quantities are required; The extreme normal stresses (maximum and minimum values) are obtained via This leads to

*
Figure 8.11

d x =0 d
*

( x y )sin 2 + 2 xy cos 2 = 2 xy = 0
*

tan 2 * =

2 xy

x y

Two angles are determined by

2 xy 1 1 = tan 2 x y
*

then

p = * ; pp = *

(8.13)

Page 21

 Substituting equation (8.13) into (8.12) leads to the principal stresses

1 1 2 2 (14) 1 1 x ( pp ) = ( x + y ) + ( x y ) cos 2 pp + xy sin 2 pp 2 2

x ( p ) = ( x + y ) + ( x y ) cos 2 p + xy sin 2 p

(8.14)

Shear stresses

xy ( p ) = xy ( pp ) = 0
Inserting equation (8.13) into (8.14) leads to the principal stresses

(8.15)

1, 2 =

( x + y )

2 4 1 = max{ x ( p ), x ( pp )}

( x y ) 2

2 + xy

* or ( * / 2)
(8.16) Figure 8.12

2 = min{ x ( p ), x ( pp )}

Page 22

Example 8.4
In a concrete structure a two-dimensional stress state was computed with

32

x = 64 N/mm 2 y = 32 N/mm 2 xy = 20 N/mm

Determine: 1. The normal and shear stresses under an angle of 60 2. The principle stresses and the principles directions 3. Sketch the element corresponding to principal stresses 4. In which direction do you expect fractures (concrete)?
2

20
*

64

Page 23

8.11. Principal Stresses (Method 2)

An easier way to compute principle stresses is obtained by the mathematical scheme to compute Eigen value (natural values) of a matrix:

Example 8.5

x xy 10 10 = y 10 10 xy
Determine principal stresses by method 2.

det I = det

x xy =0 xy y
(8.17)

Therefore:
2 ( x )( y ) xy = 0

2 2 ( x + y ) + ( x y xy ) = 0

1 = 2 =

( x + y ) 2 ( x + y ) 2

( x y ) 2 4 ( x y ) 2 4

2 + xy = 1

2 + xy = 2

(8.18)

Page 24

8.13. Principal Shear Stress

The extreme shear stresses (maximum and minimum values) are obtained via

d x y d

=0

xy ( s ) x ( s )
1

This leads to

( x y )cos 2 ** 2 xy sin 2 ** = 0
*

**

Two angles are determined by

**

x y tan 2 = 2 xy Figure 8.15 y 1 ** = tan 1 x then s = ** ; ss = ** 2 2 xy 2 1 1 x ( s ) = x ( ss ) = ( x + y ) = ( 1 + 2 ) 2 2

(8.19)

xy (max)

x y = 2

2 2 + xy = 1 2

[from eq.(8.14)]

(8.20)

Page 25

 Maximal shear stress is obtained when an angle of 45 with respect to the principle directions is chosen Maximal shear stress is equal to

max

1 = ( 1 2 ) 2
2
1

1 = ( 1 + 2 ) 2

(8.21)

max

450

2
Figure 8.16

max
Page 26

8.14. Linear Elasticity (Hookes Law)

In one dimension we have

= E

(8.22)

E is Youngs modulus and describes the stiffness of the material (i.e. it depends only on the material) as long as it is elastic Steel: E = 210.109 N/m Aluminium E = 70.109 N/m Beyond the elastic limit (yield stress), the material reacts plastically. In elastic state, material can be loaded and unloaded without remaining strains, i.e. the loading procedure is reversible Material may show linear or nonlinear elastic behaviour

L
L0

original length 600

L0 =

Stress =F/A

400

Yield stress:
E

yield

200 0

Strain:

10

15

= L / L 0

20

25

Figure 8.18

Page 27

8.15. Multi-dimensional Linear Elasticity

In the multi-dimensional case, stresses in one direction generate strains also in the other directions; we have (2D):

x =

1 ( x y ) E 1 y = ( x + y ) E

Figure 8.19 (8.28)

xy =

xy
G

Shear strains are related to shear stresses via (G is the shear modulus)

is the Poisson coefficient In linear elasticity, it is sufficient to describe the material by two parameters, e.g. Youngs modulus and Poisson coefficient; but you can use as well other parameters

G=

E 2(1 + )

(8.29)

Page 28

8.16. Strain Matrix and Strain Principle Values

In analogy to stresses, the strains are grouped into a strain matrix (or strain tensor)
xy / 2 x = yx / 2 y
x xy / 2 xz / 2 = yx / 2 y yz / 2 zx / 2 zy / 2 z

Natural values:

(8.23)

x xy / 2 det =0 xy / 2 y
2 ( x )( y ) xy / 4 = 0 2 2 ( x + y ) + ( x y xy / 4 ) = 0

(2 Dimension)

(3 Dimension)

The strain matrix is as well symmetric

The natural values are the principal values

(8.24)

xy = yx ; xz = zx ; yz = zy

1 = 1 and 2 = 2
1 0 = ; 0 2
(2D)
(8.26)

Principle strains can be computed by

1 = 2 =

( x + y ) 2 ( x + y ) 2

2 ( x y ) 2 + xy

4
2 ( x y ) 2 + xy

(8.25)

1 0 = 0 2 0 0

0 0 3

(3D)

(8.27)

Page 29

Example 8.7 A stress (matrix) tensor for the plane stress elasticity is given by

100 40 N/mm 2 = 40 50
Principle directions of a are The Youngs modulus and Poissons ratio of this material beam subjected E=200103N/mm2 and =1/3 respectively. to a central unit force

(1) Draw a square element with the above stress components acting on its sides; Compression (2) Calculate the strain tensor in matrix form; (3) Determine the principal stresses and their directions; (4) Determine the principal strains. Tension

Page 30

8.17. Equivalent Stress and structure failure

To determine failure, the multidimensional stress state should be taken into account; Although the one-dimensional stress limit is not reached, the structure may fail when subjected to multidimensional stresses; Multi-dimensionality of the stress state might improve or weaken. To obtain simple measures to evaluate multi-dimensional stress equiv states, the concept of equivalent stress is used, i.e. a single value is obtained from the stress matrix, which is then compared to the onedimensional limit stress (yield stress, ultimate stress, etc.) Simple approaches to determine the equivalent stress (the choice between them depends on the material): Normal stress hypothesis: Failure occurs when maximal normal stress is reached (8.31) equiv = 1 Shear stress hypothesis (2D): Failure occurs when the maximal shear stress is reached (Tresca)
= ( 1 2 ) = 2 max =

2 y ) + 4 xy 2

Energy hypothesis (2D): Failure occurs if the maximal elastic energy is reached (von Mises)
2 equiv = 12 + 2 1 2 2 2 2 = x + y x y + 3 xy

(8.32)

equiv Limit / n
n is the safety factor

(8.30)

(8.33)

Page 31

Example (individual) A hollow shaft, of external diameter D2 and internal diameter D1, where D1/D2=1/3, is required to transmit a torque of 100kNm and axial load 1500kN (compressive). If D2 is selected as 200mm, ultimate stress Limit=300N/mm2, safety factor n=2.5 and von Mises criterion is considered, check whether the shaft is safe.

propeller

shaft 100kNm

1500kN

D1 D2