Solution of Non-Linear Structural Problems - F. Hartung, AMD, Vol. 6, ASME, 1973. FINITE STRAIN ANALYSIS OF ELASTIC-PLASTIC SOLIDS AND. STRUCTURES John W. Hutchinson Division of Engineering ond Applied Physics Hervrd University CCombvidge, Messochusetts tie~plastic solids at finite strains which lends itself to numerical fsnalysie, A generalization of J, flow theory to large strains is given which ie in a form convenient for analysis of necking in tension ay Applications of the formulation to nonlinear pl also discus applications, Several aspects of the Giscussed from this poine of view. fe and shell theory are nTRODUCTION Moat of the noulinear theories of plates and shells are Lagrangian in character in that they employ as a reference configuration the undeformed state of the structure. In the construction of these theories it {8 common practice to stare with s set of etrain weasures and strain-dieplacenent fitons (which are usually approximate in some sense), to introduce Conjugate stress quantities, and to then postulate a variational principle fof virtual vork 4n tems of the variables of the theory. Equilibrium equations are obtained as the Euler equations of the variational principle, In thie way the variables of the ad hoc theory are connected by exact variational equations and one of another of these principles 2 usually at the heart of any schene for diseretizing the equations. Budiansky (i) has eaphasized the Comon nathenatical structure shared by such ad hoc theories Gnd particular fore of the nonlinear (eld equations for chree-dimensional Sold bodies viich erploye the Lagrangian strain tenscr and the undeformed Configuration of the body as reference, This formulation as Lt pertains to Glastic-plastic solide will be briefly reviewed here. A finite strain Yersion of J) flow theory will be discussed which fits nicely into the Lagrangian formulation. Some recent results for the problen of necking of A'bar in tension will serve to illustrate the ponaibilities which are Opened up by the application of nuperical analysis methods co problees Involving finite atrein complications. A relatively straightforvard wayto incorporate certain finite strain aspects dato the elastic-plastic analysis of thin plates and shells 48 also discussed, ‘A LAGRANGIAN FOR OF THE FIELD EQUATIONS FOR ELASTIC-PLASTIC SOLIDS Material points are identified by a set of convected coordinates x* . Folloving the standard convention, superscripted indices denote contravartant components of @ tensor and subscripted components the covarsant components. Let gy, and C,y be the metric tensors of the undeformed and deforned a | 4s rr configurations and let g! and cl be their respective inverses. Denote ‘base vectore in the undeformed body by e and their reciprocals by ef = elles. simttariy, the base vectors in the deformed body are denoted by and @ + clE, . denote che dteplacenent vector from che undeformed & configuration ty us wets ote, where uf = piu, . The Lagrangian strain tensor te x eee ie Mag 7 Cag Bey) B40 HEH ye i ‘vhere che coma denotes covariant differentistion with respect to he wndeformed metric. he exact statenest of the principle of virtual work based on the undeformed configuration te (L, 2, 3) . 1 [ranger = [rteaes ® ¥ : vera 1 Let x agg = Hag gy + FO yoy, 4 yoy o Here, dV and &3 are the volume and aurtace elements of the undeformed body, 11 are the contravarsant components of the symmetric Kirchhoff stress te ene defined with respect to the deformed base vectors, and f= T's, surface traction vector per walt undeformed area. With p= net denoting the unte normal to a gurface elenent in the undeformed body, the surface traction P acting on this eurface elenent in the deformed body {8 4 Be ct erat ayes w r tet ge egy] and 6 [ogy] + The contravartant components of he Cavey stress are given by ott = cgay rtd © ‘The surface traction vector per unte curren area acting on a surface vhose current unit normal is § = a,3' is given by Fe ofa, Oy‘The {ocrenentsl form of the principle of irtual Kerk Le eq, aie H [iM ang 2 RE oq, law = fiteaas 0 * 5 ane the asscetared equilibrius equactone are WG es allit ye BT EW yt ORR SHO “ HLL (@) hae discussed che general frenework for the classical rate- conscieuctve relations for elastic-plastic solids vith sscoth yield eurfaces at finite strain. Using the convected rate of the contraveriant. couponenee Of the KLrchhof! etress, the rate-conecitutive Felation can be expressed. in the general fore 8. a (0) LEE stl GH ow For strestes tithin the yield surface a= 0 and for stresses on the yield surface wi at eA zo ane ae atiy c onl 4g 20 and “ 1g 0 (10) Here, f de the current censor of elasete soduld for thie choice of sere rare and t2 {9 acted char YUE wyKUD the ventor of instantaneous Goduli for loading is Land p {2 the current unie eentor noreel co the jield surface 4n etratn-rate space, The current level of strain hardenig Ie deterained by g and the strainerace 1s given by » le gs lok tack Ay IG yo HO an Ineroduce the functional of $y (ea eT A, slew = [ Hes , an Sy here Ets presertoed on 5; and b on 5, and where che steess-races 441 are regarded co be © function of the etrain-retes chrough (9) and (10). ihe variational principle govering the inctesencal toucary value prables ) a0 a3) for all adptestbie Su, vhteh vantsh on S,. Equsttons (22) ond (23) xeduce to the vell-hnowm princtple for the classical suall strain and saall rotation theory. The above voriational equation provides the theoretical foundation for a variety of pousible numerical solution gethods, chen (6) ured aKantorovich approxinatton method in conjunction with this vartational ‘equation to analyse necking ina bar. Needlenat (7) used the principle a= the basis for a finite elenent method solution to a large etrain problem related to void grovth and coalescence in metals. The sane wethod was applied to the tensile necking problen (8) and sone resuits fron this calculation vill bbe digscosved in a Later section. Oden (9) hae given an extensive review of the work on the development of finite element ethods for the lorge strain analysis of elastic solide, Hibbiee, Marcal and Rice (10) have discussed the formation of finite elenent juatione based on a Lagrangian formulation for elastic-plastic solids which $3 esrentially {dentical to that Tevieved above. The choice of a Lagrangian based numerical schene as opposed ta a Eulerian echene, for example, {2 dictated by a nuber of considerations. Since the variational fmetional (42) ts based on the undeforsed configuration, the finite elenent (or finite deference) grid renains fixed. For thie reason, the Lagrangian approach can be ‘stoplest finite within triangular elesente are taken to be Linear functions of the reference coordinates and thus the trains, stresses and moduli ace constant within, each elenenc, At each stage of the calculation procedure the moduli must be updated in a straightforvard vay vhich can be illustrated by one possible prescription for the moduli ta the next- section. As io any elastic-plastic Ealeulation, the loadin ‘step most in general be handled in an iterative fashion. ‘A FINITE STRAIN GENERALIZATION OF J, FLOW THEORY Seall strein formulations of strain-hardening plasticity involve the deviator sj, and the J) invariant vhere in Cartesian coordinat. L * and pe byt aay =, -F8, 4g" S49 3 Spwhty Te 48 usually uanece where 6,, 18 the Kronecker dele ary to give a precise definition to the stress meagure in enall strain formulations and for the moment the precise meaning of T,, will be left anbiguous. In one of the most widely used plasticity theories, J, flov theory, the ateatn-rate te given in terns of the stress-rate by ey Bt gy HON ayy +8 ash lag +E Haye + as) here art He hrayiy2? at 2 Gee | as) aro dco oF 1p < CD gay \ v fs Poisson's ratio and f {sa funetion ke (15) cotneide with any monotonic In (15) £ te Young's modulus, of J, which can be chosen to proportional loading history. The faversion of (15) 4s Ae y Aa F fg 7 reo Syet Toa Saye! ~ Tg agte et © anwhere 6, * Ogg ATE AE AYA ZO amd a0 ae ayy co. ‘Miso, £ and g ate comected by zi f= tae) +205) as) ‘The expression for the moduli in the small strain formulation is thus Sys tyhard syns] an Tf a untattal tension curve 1s used to deteraine f and g , one finds that they are given by eh yay 7 Hage” BO aay Sue 13 et 5 B = G23) lg- Fa-20)3,1 = F 0) boat arg ayer where £, As the tangent modulus vhich ts regarded ‘through the connection with the tensile stress, J, + 07/3 a function of J, ‘Tere are many possible vays to generalize the above relation to # finite strain formulation (11, 12, 13). The one selected for discussion is ‘8 epectal cage of Hill's (4) general clase (9) and (10) and has a fore perticularly suitable to a Lagrangian approach. It 1s a slightly wedi {ted Version of a relation proposed by Budiansky (Ii). Ar in the small strain version the theory enploys a J, invariant of the etrese to describe the yield surface and thus dees not account for any Bauschioger effect. It 1s also Arsused that the strains are not so large that appreciable elastic anisotropy develo ‘The contravariant components of the Kirchhoff strese w4 will be used tn the formulation and @ deviator stress tensor is defined according to wa Lote kt Fete ap where G 1s the metric tensor in the deformed systen as previocsly Aneroduced a0 that with this definition 6,0! +0, we cake Jy to be defined in terme of the stress deviator by a As it 1g FG Gyys Sa ay If the coordinate system in the deformed body happens to be Cartesian then (21) and (22) have the sane form se (14). Since the undeformed configuratica As used a5 reference the deformed configuration vill not, in general, be Cartesian and the general censor formulation of (21) and’ (22) te neces 1€ whe Cauchy stress (5) 4 used in forsing J, in place of the the tovartant will di¢ter from (22) by a multiplicative factor G/g = (a¥/av)? , vhere a¥/aV ts the deformed volume per unit indeforaed volume, The volume change n the relation given below arises ieirely frve the elastic part of the tydroncatic pressure ie very seall compared to the elastic bulk modulus, there is Little experimencal evidence to point to one choice over ehe ether nthe formulation of « yield ericerion as discussed by Lee (12). Kirchhoff seres with 3, deft by (22) tt can be shovm that the rate of change of= 46,008 Jy = Gy Syy an Were the {1 are the contravartant components of the symetric Jaumann rate ‘of change of the Kirchhoff stress which are related to the convected rate BS oy Bs otha etka. ew Te generalization of (15) ve will vse fe yy = Hamregey Heel! + Logo, e8, es wich ott i S20 me ee | as aso tt or 3g < Ouae § Te QS) f fe regarded as a function of J, , and E and v are taken to be fixed constants corresponding to their values in the undeforaed state. The second part of (25) 1s regarded as the plastic strain-rate; and since ra © volume change 18 zero Gyyetl + 0, che plastic volume change 42 zer0, In the absence of plastic deformation (25) 1s a hypo-elastic relation 40 chat the relation eamot be integrated to give the strains in terme of the ‘cuttously, though, se 1g possible to write the vork done by whe atrennes per init original volume in terms of the stresses (and the deformed metric tensor) a5 frtdengy = tawnngye daeareeyysth?y , en b ‘The dnversion of (25) is 8s Bact Vata eM, en ten asl me ee | es) ero te Mico or Hea, ‘The sane relation (16) holds between f and g as in the email strain formulation. Using (26) the rate-conetitutive relation can be cast ito the form (9) dnvolving “44 and appropriate co the present formulation, £.t., ee utils ©)‘Te instantaneous sodult are IE HE Tate tatlys A ott 2 tht eee a wich a obeying (29), If date from a uniaxial stress-strain curve 1s used to determine f and 8 one finds by specializing (25) to pure tension that, instead of (20), ef gets @eupite-farny « ()"EEegoan] . oa Te tensile data in this equation is considered to be know as a function of the true strese ©, In simple tension J, = (C/g)0*/3. The tangent modulus fined an Ey = do/de , vhere © is the logarithaic, or natural, kenaile strain, The instantaneous contraction ratio ie defined to be Ge" ae,/ae y voere c, Se the logeritiate strain traneverse to the tensile direction. For an elastically incoupressible material, v +3 = 1/2 and G/g = 1 so that (32) reduces to che small strain expression (20) with the proper interpretation of Ey 2, fs now ‘As has been discussed by many authors, evo conditions are required for the oaall strain relation to provide an accurate approxis Hinite strain version. For the purpose of discussion cl oose « Cartesian syeten in the undeforsed body. If the strains are suff'ciently enall the Hatinetion between the deformed and undeforsed metric tensore in (31) can be ignored, Secondiy, if the stresses are osall compared to the dnatantancout moduli then the second set of bracketed terms in (31) can be neglected Compared to the first, In addition, (32) becones (20), and the ri constitutive relation becones indiecinguishable from the enall strain version. The above relation 1s due essentially to Budlensky (14), We original suggestion te identical in all respects except that the contvavariant components of the Cauchy stress (5) oJ are used everywhere in place of the contravariant coaponents of Kirchhoff stress 1! in equations (21) through Gl). In particular, the deviator components (21) are formed from the Caucty ress conponente and J) is based on these deviator cosponents, Sinilarly, #9 and 74 are replaced in (24) by G4 and 5‘) , which are the Jaumann and convected rates, respectively, of the contTavariant components fof the Cauchy stress. In this alternative formulation equations (21) through (QL) renain unchanged although (27) 48 now interpreted as the stress work per unit deformed volume. one feature vhich ts particularly attractive about this second form ds that, instead of (32), "€ and g are given by the formulas for the classical anall strain version (20) vhere "E. {s the tangent modulus of the true stress-natural strain curve in uniaxtal tension, The one dravback of the version formulated in the form of che Cauchy strese 12 that vhen ‘the moduli are converted to the form (9) involving i*! , the moduli do not stisty the symecry LH! . LM required for the variational principle (13) to hold,” This can be noted directly using the relationHDs erp « Hee o» For elattically incompressible solide the tvo versions are obviously Adencieal. Numerically the difference betveen the cvo formulationé will be Anconeequential ao long ae che pressure # omall conpared to che bulk modulus, APPLICATIONS TO NECKING ANALYSIS In the analyeie of necking in tension it {8 essential to use a bona fide finite strain formulation, The above formulation of the field equations has been used in the analysis of tvo separate aspects of necking of @ eolid cirewlar cylindrical bar im tension (6, 8) 15). Firat consider a bar vhose ends are subject to a prescribed un{form relative axial displacenent in such a vay that the ends remain free of taigential craction and the lateral surface is traction-free. For these {geal boundary conditions, the uniform state of untaxial tension ie an exact solution at ail values of ‘the relative end displacement. Necking will scare fs a bifurcation from the uniform state. Bifurcation first becoses possible f the value of the elongation vhere there firet existe nonzero Gteplacenenc-race field Gy such thac fl igigg ORE loro, om ‘ where che modul{ L are given by (31) with a= 1. Here the strain-rete 4s given by (11) and the axial component of the eigensodal daplacenent-rate must vanish on the ends of the spectzen. Denote the true stress and narural strain assoctared with che stare at which the maximum coral load of the cylindrical bar de attained by 0, and « before the mexiaun load is attained. The axtaymerric bifurcation probles for an inconpressible bar hav been studied within the content of the fall three-dinenefonal formulation im (5, 16,17). Let Ry and U, denote che Teapectively, Miles (16) hae proved that bifurcation cannot occur radius and Length of the specimen vhen the maxinum load 4s attained and let Ye WL, . For an incompressible uaterial characterized by (31), che Crue spectively, are stress and natural strain at bifurcation, ©, and ¢, given by the expressions (15) ne SA which are asymptotically exact for mall y . In these formulas u > £/3 Yo the elastic shear sodulue of the incompressible material, and (dE,/20), y-natural la (35a) Gq os) denotes the derivative of the tangent modulus of che true str Strain curve with respect to the true stress and evaluated at che maximum ‘loads dn example presenced in (15) uses che Ranberg-Oegood tensile relation° 3 1s cay) cmt) Fig. 1 Tensile bifurcation of a sold cylindrical specinen of an Ancoupreseible material vith a Bamberg-Oegood tensile str: relation, See (15) for an accurate plot. (Asynptoric results wy Exact resulee 3 sont Hesgetion damental ee Lets | Solution seen Bifurcated Soluesor for shear-free ends Bifurcated Solution tobe cenenced to rigid gripe Reduction in erose-sectional Elongation aren eck Fig. 2 Schenatic of results of a numerical analysis of necking of @ solid cylindrical bar froa (8).between the true stress and natural strain, 1 sey 5 co were cand 0, = Et, are the effective yield atrain and yield stress ani where 6, ry FB, ” yield st} i a is the hardening exponent. For this ct ye Eqs. (35) become on) on) Figure 1 displays plots of o,/o, and ¢./¢, a a function of TR/t, vhere where R, and L, are the undeformed radiue and length of the bar. The dashed Line curves are derived from the asymptotic formulas (37) and che solid Line curves are the exact results for arbitrarily Large R/L, (uhich require sone ninerical analysis in their evaluation). °° Needlensn (8) used the variational principle of the previous section to formulate a finite element schene snd applied it to the necking problem. He considered elastically coapressible solide and used the sodvl: (31) together With an inconsequential approximation in which the right-hand-eide of (32) is replaced by E,/E. The axieymetric eigenvalue problea governing bifurcation was solved using a finite element method and the port-bifurcation point vhere che specinen had undergone Significant necking dom. the character of his solution Sn'a typical specimen vith Ri/l, = 4; Bifurcation occurs beyond the ‘maximus load and from that point on the solution for the necking spectnen tume dovn from the fundamental solution for the uniform epecinen which undergoes no bifurcation. The second part of the plot shows that bifurcation ke the onset of the rapid contraction at the neck, Included in the second plot are results for 4 calculation (8) for another set of boundary conditions vhere the ends of the bar are considered to be cenented to rigid grips. In this case no bifurcation occurs. Instead departure from the uniform state occurs with the first application of load. ‘The maximum load vae found to be essentially the sane as in the other case; but as can be seen from the plot, significant necking starte at somevhat lover elongations. ‘Aa nentioned previously, Chen (6) used che sane formulation together with a Kentorovich approxination method ce study the fame problea. te considered the shear-free end conditions case and initiated necking by Anmtroducing a mall initial axisyametric inperfection. This sane technique was used by Osias (18) in his study of teneile necking under plane stres find plane strain conditions, However, Osias's approach vas based on a Eulerian formulation and his numerical schene derived frou 2 dixcretization of the governing differential equations directly. APPLICATIONS TO THIK PLATE AND SHELL PROBLENS Aa cophasized in the Introdsction, the structure of the field equations as developed for the three-dinensional solid closely resenbles the structureof the equations for the most videly veed “aonlinear theories of plates and shells. in vost applications involving structural materiale, vhether the Teeponse de elastic or elastic-plastic, the straine are mali and the significant geonetric nonlinearity 18 due to rotations, In a first order theory in vitich the atraine are assumed to vary linearly through the thickness the inplane Lagrangian strain tengor is often epproxinated by tas "Fag tg 9 LZ where Eg and Kyg are the stretching and bending strain censors of the idle surface. The coordinate € 1s measured along che normel to middle fsurface in the undeformed shell. The stretching and bending stvaina are expressed 4n terms of the displacenents of the middle surface in directions ‘orsel ond tangential Co the undeformed middle aurface. 8-12), oe) ‘Te internal virtual vork 18 approxinated by frrPenggev = [{ePorgg +xPeeg]ah « os ¥ 4 where dh io the eleaent of the undeforeed middie surface. The bending smonent and resultant stress tensors are related to the Kirchhoff srrene tensor by ee ey? [se ana 8. [cee , (40) sea cea where t 4a the thickness of the undeformed shell. The contravaris onponenta of the Kirchhoff stress enter into these expressions bec Cagrangian strain tensor nas been uted along with the choice of the undeformed body ax the reference configuration. Suppose the three-dinensionsl rate-consritutive relation 1 of the form discussed in the previous sections for the finite strain formulation, 1. Ho ides «ay The assumption of theory requizer nyg= 0 for a= 12 and t%nyy-0, 4 Thor from (41) orinate plane street in a first order plate or shell. Deo "ea «2 rates and strain~ 43) are given by paBer . yaSey _ 0893, 33cy/, 3333 aFrom (40) the rate-constitutive relations written in terns of the fate quantities of the plate or ehell theory are je8 abe 4 berg HO Bey * HS Bey ws) 8 = HOE, + HOE, 46) (2) Fey + Koay Bey where: oer. J : 7) a2 1m particular, note that for che case of a flat plate with Kye = 0 and Eq. (45) gives exactly the sane relation fag untfora through che thicknes between i and yg a5 vould be obtained from the full finite strain formulation by integrating through the thickness. Equations (38) through (47) constitute # full complenent of equations for firet order plate and shell theories including finite strain effects. If the moduli” [given by (31) oF sone eintlar prescription are used, chen the quantities needed for updating from one incremental step to another are contained in the shove set of equation If the straine are seall and the acress levels ave lov cospared to the Instantaneous sodult, then as discussed previously the finite strain formulation can be replaced by a saall strain formulation in which it {¢ not ry to give a precise definieion €o the stress essure, Most plastic buckling problens in thin plates and bells fall into this category: Typically, the stresses at buckling are proportional to che product of an dnetantancout modulus and soae ratio of the thickness to a characteristic Length auch greater than the thicknest. On the other hand, in problens involving the onset of necking or bulging, for example, it'may be essential to use an’appropriate finite strain formulation even vhen the strains are ual, Ae Long af the characteriatte length of the deformation fleld 12 Large compared to the chickness one can expect the first order theory to have apprexinate validity. Of course, once the characteristic deformation Length becomes on the order of the thickness, as in the advanced seages of necking, the first order theory 4s no longer applicable, ACIOULEDCMENTS ‘This work vas supported in part by the Air Force Office of Setentific Reseach under Grant AFOSR-73-2676, in pare by the Advanced Research Projects ‘Agency under Contract DANC 15-73-6-16, and by the Division of Engineering ‘and Applied Physics, Harvard University. REFERENCES 1, Budiansky, B8., "Remarks on Theories of Soltd and Structural Mechanics", Problens of Hydrodynamics and Continuum Hechantes, SIAR, Phitadeiphia, 1969, pp. 77-83. 2. polotin, V. Vs, Nonconservative Problens of the Theory of Elastic Stability, English translation edited by Herrmann, C., Macaillan, Nev York, 1963,3% 10. nL. a B Me 1s. 1s. wv. we. ‘Theoretteal EL , 2nd Eds, Oxford University Press, Oxtord, i968. -4,"On the Classical Constitutive Relations for laatte-Plastic "Recent Progress i Applied Mechanic, che Polke Odqvit Volume, Aingviet ane Witeeiie StoeiDeln, 19ST ppe sei-200. HALL, R., "Bifurcation and Uniqueness in Nonlinear Mechanics of Continua” the Muskhelishvili Volume, SIAM, Philadelphia, 1961, pp. 155-164, chen, H. He, "Necking of 2 Bar", Intemational Journal of Solt Structures, Vol. 7, 1971, pp. 685-717. Weedlenan, A., "Wold Growth in an Elestic-Plaseic Nediun", Journal of Applied Mechantes, Vol. 3%, 1972, pp. 964-970, Needleman, A., "A Numerical Study of Necking 4m Circular Cylindrical Bere”, Journal of che Mechanice and Physics of Solids, Vol. 20, 1972, pp. Lid=t27. Oden, J. T,, Finite Elenente of Nonlinear Continua, MoGraw-iiill, Nev York, 1972. abbsee, Hh Ds, Mareal, Ps V. and Rice, J. Rey "A Finice Clement Formulation for Problene of Large Strain and Large Displacenent™, International Joursal of So\de and Structures, Vol. 6, 1970, pp. 1069- Toe. Green, A. E, and Naghdt, P. Mo, "A Generel Theory of an Elastic-Plascic Continuum", Archive for Rational Mechanics and Analysis, Vol. 16, 1965, pee 251n2 Lee, £, H., "Elastic-Plastic Deformation at Finite Straine Applied Mechanses, Vol. 36, 1969, pp. I Willis, 3, R., "Some Conseteucive Equacions Applicable to Problems of Large bynanie Plastic “eformations”, Journal of the Mechanics and Physics of Solids, Vol. 17, 1969, pp. 359, Journal of Budiansky, 8.5 (unpublished work) References 6, 7, oF 8. Hutehingon, J. Ws and Miles, J. P., "Blfureation Analysis of the Onset of Necking sn an Elastic-Plactic Cylinder under Uniaxial Tension", to be published i Joursal of che Mechanics and Physice of Solids, Vol. 21, 1973. wiles, J.P.) “Bfurcation in Plastic Flow under Untaxtal Teneton' Journal of the Mechanics and Physice of Solids, Vol. 19, 1971, Bp BST ance ame Risse of Solids cheng, 5, Ye» Ariaratnan, S. T. snd Dubey, R. Ney "Axteyometric Biturcation in an Elastic-Piaseie Cylinder under dxtal Loed and Lateral liydrostetic Pressure", Cuarcerly of Applied Mathenaties, Vol. 29, 1971, pps AlnS1 Ostas, J. R., "Finite Deformation of Elasto-Plé Contractor Report CR-2199, March 1973. ce Solide", NASA 29