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Theories of Failure PDF
Theories of Failure PDF
Theories of Failure
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Ramadas Chennamsetti
Summary
R&DE (Engineers), DRDO
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2
Ramadas Chennamsetti
Introduction
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Brittle materials – no yielding – sudden failure
Factor of safety (FS)
3
Ramadas Chennamsetti
Introduction
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ε
εe εp ε
Ductile material 0.2% ε Brittle material
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Well – defined yield point in ductile materials – FS on yielding
No yield point in brittle materials sudden failure – FS on failure
load 4
Ramadas Chennamsetti
Introduction
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Similarly in pure shear – only shear
stress.
Multi-axial stress state ??
If τmax = τY => Yielding in shear
5
Ramadas Chennamsetti
Introduction
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Internal pressure and external UDL
6
Ramadas Chennamsetti
Introduction
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Selection of yield criteria
Material yielding depends on rate of loading – static &
dynamic
7
Ramadas Chennamsetti
Introduction
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Yield function developed by combining stress
components into a single quantity – effective
stress => σe
8
Ramadas Chennamsetti
Introduction
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Yield surface – closed curve
9
Ramadas Chennamsetti
Parameters in uniaxial tension
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Maximum principal strain
σ1 υ
ε Y = − (σ 2 + σ 3 ) =
Y
σ1 = Y, σ2 = 0, σ3 = 0
E E E
10
Ramadas Chennamsetti
Parameters in uniaxial tension
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Distortional energy
Y 0 0 Y − p 0 0 p 0 0
[σ ] = 0 0 0 = 0 −p 0 + 0 p 0
0 0 0 0 0 − p 0 0 p
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First invariant = 0 for deviatoric part => p = Y/3
U = UD + UV
11
Ramadas Chennamsetti
Parameters in uniaxial tension
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UV =
p2
=
Y2
=
(1 − 2υ ) 2
Y
2 K 18 K 6E
U D = U −UV
Y 2 (1 − 2υ )Y 2 Y2 Y2
UD = − = (3 − 1 + 2υ ) = (1 + υ )
2E 6E 6E 3E
Y2
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UD =
6G
Similarly for pure shear also
12
Ramadas Chennamsetti
Failure theories
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Failure mode –
Mild steel (M. S) subjected to pure tension
M. S subjected to pure torsion
Cast iron subjected to pure tension
Cast iron subjected to pure torsion
Theories of failure
Max. principal stress theory – Rankine
Max. principal strain theory – St. Venants
Max. strain energy – Beltrami
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Distortional energy – von Mises
Max. shear stress theory – Tresca
Octahedral shear stress theory
13
Ramadas Chennamsetti
Max. principal stress theory
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If, no yielding
f = 0 onset of yielding
f > 0 not defined
14
Ramadas Chennamsetti
Max. principal stress theory
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Yield surface –
σ 1 = ± Y => σ 1 + Y = 0, σ 1 − Y = 0
σ 2 = ± Y => σ 2 + Y = 0, σ 2 − Y = 0 Represent six surfaces
σ 3 = ± Y => σ 3 + Y = 0, σ 3 − Y = 0 σ2
Yield surface
Y
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Yield strength – same in
tension and compression Y σ1
Y
σ3
15
Ramadas Chennamsetti
Max. principal stress theory
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Closed curve -Y Y
σ1
Stress state inside – elastic, outside => Yielding
Pure shear test => σ1 = + τY, σ2 = - τY -Y
For tension => σ1 = + σY
From the above => σY = τY τY τy
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Experimental results – Yield stress in shear
is less than yield stress in tension
τy
Predicts well, if all principal stresses are tensile Pure shear
16
Ramadas Chennamsetti
Max. principal strain theory
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Principal stresses => σ1, σ2 and σ3 strains
corresponding to these stress => ε1, ε2 and ε3
17
Ramadas Chennamsetti
Max. principal strain theory
R&DE (Engineers), DRDO
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There are six equations –
Maximum of this should be each equation represents a
less than εy plane
18
Ramadas Chennamsetti
Max. principal strain theory
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Yield function
f = max σ i − υσ j − υσ k − Y , i, j, k = 1, 2, 3
i≠ j≠k
f = σe −Y
σ e = max σ i − υσ j − υσ k
i≠ j ≠k
For 2D case
σ 1 − υσ 2 = Y => σ 1 − υσ 2 = ±Y
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σ 2 − υσ 1 = Y => σ 2 − υσ 1 = ±Y
Equations – σ 1 − υσ 2 = Y , σ 1 − υσ 2 = −Y
σ 2 − υσ 1 = Y , σ 2 − υσ 1 = −Y
Plotting in stress space
σ2 σ 2 −νσ 1 = σ Y
σy
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surface
σ 1 −νσ 2 = σ Y
σ 2 −νσ 1 = −σ Y
20
Ramadas Chennamsetti
Max. principal strain theory
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Y = σ (1 + υ )
Maximum principal stress theory –
σ1 = | σ2 |= σ
Y=σ
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Max. principal strain theory predicts smaller value of stress
than max. principal stress theory
Conservative design
21
Ramadas Chennamsetti
Max. principal strain theory
R&DE (Engineers), DRDO
Pure shear
τy
Principal stresses corresponding to
shear yield stress
σ1 = +τy , σ2 = -τy
For onset of yielding – max. principal
strain theory
Y = τy + υ τy = τy (1 + υ)
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Relation between yield stress in tension and shear
τy = Y/ (1 + υ) for υ = 0.25
τy = 0.8Y Not supported by experiments 22
Ramadas Chennamsetti
Strain energy theory
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ε y
U = (σ 1ε 1 + σ 2 ε 2 + σ 3 ε 3 )
1
σ3
2
σ1 υ
ε1 = − (σ 2 + σ 3 ) U= [
σ1 + σ 22 + σ 32 − 2υ(σ1σ 2 + σ 3σ1 + σ 2σ 3 )
1 2
]
E E
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2E
σ2 υ
ε2 = − (σ 3 + σ 1 ) For onset of yielding,
E E
ε3 =
σ2
−
υ
(σ 1 + σ 2 )
Y2
=
2E 2E
1 2
[
σ1 + σ 22 + σ 32 − 2υ(σ1σ 2 + σ 3σ1 + σ 2σ 3 ) ]
E E 24
Ramadas Chennamsetti
Strain energy theory
R&DE (Engineers), DRDO
Yield function –
f = σ 12 + σ 22 + σ 32 − υ (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 ) − Y 2
f = σ e2 − Y 2
Equivalent stress => σ e2 = σ 12 + σ 22 + σ 32 − υ (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 )
Yielding => f = 0, safe f < 0
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becomes f = σ 2 + σ 2 − υσ σ − Y 2
1 2 1 2
+ − 2υ =1
σ2 Y Y Y Y
Y ζ
η This represents an ellipse –
Transform to ζ-η csys
45o
σ1
Y
σ 1 = ζ cos 45 − η sin 45 =
1
(ζ − η )
2
σ 2 = ζ sin 45 + η cos 45 =
1
(ζ + η )
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2
Equivalent stress Substitute these in the above
inside – no failure expression
26
Ramadas Chennamsetti
Strain energy theory
R&DE (Engineers), DRDO
Simplifying, ζ2 η2 ζ2 η2
2
+ 2
= 1 => 2
+ 2
=1
Y Y a b
σ2
(1 − υ ) (1 + υ ) ζ
Y A
Y η
Semi major axis – OA => a = (1 − υ ) B
45o
o Y σ1
Y
Semi minor axis – OB => b =
(1 + υ )
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Higher Poisson ratio – bigger major axis, smaller minor axis
If υ = 0 => circle of radius ‘Y’
27
Ramadas Chennamsetti
Strain energy theory
R&DE (Engineers), DRDO
Pure shear τy
Principal stresses corresponding to
shear yield stress
σ1 = +τy , σ2 = -τy
τy τy
ε1 = (1 + υ ), ε 2 = − (1 + υ )
E E
Strain energy, U τ =
(1 + υ ) 2τ 2 =
1 2
=> Y = 2 (1 + υ )τ y
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y Y
2E 2E
τy = 0.632 Y
28
Ramadas Chennamsetti
Distortional energy theory (von-Mises)
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Hydrostatic loading
applying uniform stress from all the
directions on a body
Large amount of strain
energy can be stored
Experimentally verified
Pressures beyond yield Pressure ‘p’ applied from all sides
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stress – no failure of material
Hydrostatic loading – change in size – volume
29
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
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energy – this should be less than distortion
energy due to uniaxial tensile – safe
30
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
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3
Principal strains => ε1, ε2, ε3
Volumetric strain => εV = ε1+ ε2 + ε3
31
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
This gives –
ε V = ε 1 + ε 2 + ε 3 = {(σ 1 + σ 2 + σ 3 ) − 2υ (σ 1 + σ 2 + σ 3 )}
1
E
εV =
(1 − 2υ )
(σ 1 + σ 2 + σ 3 ) = 3(1 − 2υ )
p
E E
1
Volumetric strain energy, U V = p ε V
2
1 3(1 − 2υ ) 3(1 − 2υ ) 2 (1 − 2υ )
UV = p p= p = (σ 1 + σ 2 + σ 3 )2
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2 E 2E 6E
U = strain energy due to principal stresses & strains
υ
U =
1
2E
( 2 2 2
)
σ 1 + σ 2 + σ 3 − (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 )
E 32
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
Distortional energy –
σm σ2 - σm
= σm + σ1 - σm
σm σ3 - σm
UD = U - UV
1 − 2υ
UD =
1 2
[( 2 2
) ]
σ 1 + σ 2 + σ 3 − 2υ (σ 2σ 1 + σ 2σ 3 + σ 3σ 1 ) − (σ 1 + σ 2 + σ 3 )
2
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2E 6E
Simplifying this
UD =
1
12G
[
(σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
]
33
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
U D ==
Y2
=
6G 12G
1
[
(σ 1 − σ 2 )2 + (σ 2 − σ 3 )2 + (σ 3 − σ 1 )2 ]
=> 2Y 2 = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
Yield function,
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f = σ e2 − Y 2
2
e
2
[
Equivalent stress, σ = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
1 2 2 2
]
34
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
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2Y 2 = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
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Von-Mises equivalent stress => +ve stress
36
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
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o Y
This represents an ellipse
Semi - major axis, OA = 2Y
2
Semi - minor axis, OB = Y
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37
von-Mises theory
R&DE (Engineers), DRDO
Pure shear – τy
Principal stresses corresponding to
shear yield stress
σ1 = +τy , σ2 = -τy
Y 2 = σ 12 + σ 22 − σ 1σ 2 = 3τ y2 => τ y = 0.577Y
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Suitable for ductile materials
38
Ramadas Chennamsetti
von-Mises theory
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A
σ1 + σ 2 + σ 3 = 0 B
Deviatoric plane
σ1 o σ1
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σ3 σ3
f = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 ) − 2Y 2 = 0 1
2 2 2
n = i + j + k
~ 3 ~ ~ ~
Cylinder, with hydrostatic stress as axis OA = σ 1 i + σ 2 j + σ 3 k
~ ~ ~ ~
Axis makes equal DCs with all axes 39
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
3
OA = OB + BA
OB =
1
(σ 1 + σ 2 + σ 3 ) ~ ~ ~
3 BA = OA − OB
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~ ~ ~
(σ 1 + σ 2 + σ 3 ) i + j + k
1 1
=> OB = OB n =
~ ~ 3 3 ~ ~ ~ BA = r = radius
OB =
(σ1 + σ 2 + σ 3 )
+ + = p i + j + k
of cylinder
~i j k ~
~ 3 ~ ~ ~ ~
40
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
Radius of cylinder
BA = R = OA − OB = σ 1 i + σ 2 j + σ 3 k − p i + j + k
~ ~ ~ ~ ~ ~ ~ ~ ~ ~
2σ − σ 2 − σ 3 2σ 2 − σ 3 − σ 1 2σ 3 − σ 1 − σ 2
R= 1 i+ j+ k
~
3 ~ 3 ~ 3 ~
R = S1 i + S 2 j + S 3 k
~ ~ ~ ~
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First invariant of deviatoris stress tensor, J 1 = 0 => S1 + S 2 + S 3 = 0
(S1 + S 2 + S 3 )2 = 0 = S12 + S 22 + S 32 = −2(S1 S 2 + S 2 S 3 + S 3 S1 )
Yield criteria => (S1 − S 2 ) + (S 2 − S 3 ) + (S 3 − S1 ) = 2Y 2
2 2 2
41
Ramadas Chennamsetti
von-Mises theory
R&DE (Engineers), DRDO
Yield criteria,
Y 2 = S12 + S 22 + S 32 − S1 S 2 − S 2 S 3 − S 3 S1
Use, S12 + S 22 + S 32 = − 2(S1 S 2 + S 2 S 3 + S 3 S1 )
1
2
2
1 2
2
2
3 (
Y = S + S + S + S1 + S 22 + S 32
2 2
)
2 3 2
2
2
( 2 3 2
Y = S1 + S 2 + S 3 = R
2
)
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3
Y = R
2
Yielding depends on deviatoric stresses
Hydrostatic stress has no role in yielding 42
Ramadas Chennamsetti
von-Mises theory
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2
2
( 2 R2
2
)
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3
Y 2 = R 2 => Y 2 = 3 J 2
2
Redfining yield function => f = 3 J 2 − Y 2
J2 Materials 43
Ramadas Chennamsetti
Max. shear stress theory (Tresca)
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σ1 − σ 2
τ max = KT = => τ max = τ y = KT
2
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f = max . , , − KT =
2 2 2 2
f < 0 => No yielding
f = 0 => Onset of yielding 45
Ramadas Chennamsetti
Tresca theory
R&DE (Engineers), DRDO
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σ 3 −σ1 σ 3 −σ1
= K T => = ± KT
2 2
f 5 (σ 3 , σ 1 ) = σ 3 − σ 1 − 2 K T ; f 6 (σ 3 , σ 1 ) = σ 3 − σ 1 + 2 K T
46
Ramadas Chennamsetti
Tresca theory
R&DE (Engineers), DRDO
f (σ 1 , σ 2 , σ ) = (σ 1 − σ 2 − 2 K T )(σ 1 − σ 2 + 2 K T )
3
(σ 2 − σ 3 − 2 K T )(σ 2 − σ 3 + 2 K T )
(σ 3 − σ 1 − 2 K T )(σ 3 − σ 1 + 2 K T )
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Each function represents a plane in 3D principal stress space
( )( )(
f (σ 1 , σ 2 , σ 3 ) = (σ 1 − σ 2 ) − 4 K T2 (σ 2 − σ 3 ) − 4 K T2 (σ 3 − σ 1 ) − 4 K T2
2 2 2
)
No effect of hydrostatic pressure in Tresca criteria 47
Ramadas Chennamsetti
Tresca theory
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σ2
σ1 - σ2 = 2KT σ2 - σ1 = 2KT
O
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Hydrostatic axis σ1 σ1 σ2
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Hydrostatic axis 2
O
OB = OA cos θ = 2 K T
3
OB – projection of OA on
Deviatoric plane, σ1 + σ2 + σ3 = 0
deviatoric plane 49
Ramadas Chennamsetti
Tresca theory
R&DE (Engineers), DRDO
Tresca hexagon
A, B σ3
2 D
2KT
3
300
O C D
σ1 - σ2 = 2KT σ2 - σ1 = 2KT
OC = OD cos 30 O C
2 3
=> OC = 2 K T
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σ1 σ2
3 2
=> OC = 2KT
50
Ramadas Chennamsetti
Tresca theory
R&DE (Engineers), DRDO
2D stress state - σ3 = 0 σ 1 − σ 2 = ±2 K T
Each equation represents two σ 2 = ±2 K T
lines in 2D stress space σ 1 = ±2 K T
σ2 2KT
O A
- 2KT σ2 = 2KT C 450
- σ1 + σ2 = 2KT σ1 = 2KT
B
O 450 A
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σ1 1
σ1 = - 2KT B
2KT OB = OA cos 45 = 2 K T = 2KT
σ1 - σ2 = 2KT
2
σ2 = - 2KT OA
OC = = 2 2KT
Yield curve – elongated hexagon
cos 45
51
Ramadas Chennamsetti
Tresca theory
R&DE (Engineers), DRDO
2D stress state - σ3 = 0
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σ1
2KT
σ1 = - 2KT B
σ1 - σ2 = 2KT
σ2 = - 2KT
Pure tension – σ1 = Y, σ2 = 0, σ3 = 0
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KM = Y = τ y , KT = Y = τ y
3 2
τ y = 0.577 Y (von − Mises), τ y = 0.5Y (Tresca )
von-Mises criteria predicts 15% higher shear stress than Tresca
53
Ramadas Chennamsetti
von-Mises – Tresca theories
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Y ζ 2τy A ζ
A
η η
B B
45o 45o 2τy
σ1 σ1
o Y o
3τ y
3τ y2 = σ 12 + σ 22 − σ 1σ 2
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Y 2 = σ 12 + σ 22 − σ 1σ 2
τy σ −σ 2 σ1 σ 2
Y = max .{σ 1 − σ 2 , σ 1 , σ 2 } 2
= max . 1
2
,
2
,
2
2 2
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σxx A
σxx
** Taylor and Quinney “Plastic deformation of metals”, Phil. Trans. Roy. Soc.A230, 323-362, 1931
55
Ramadas Chennamsetti
von-Mises – Tresca theories
R&DE (Engineers), DRDO
Tresca criteria
σ xx
2
Y = σ1 −σ 2 = 2 + τ xy => Y = σ xx + 4τ xy
2 2 2 2
2
σ xx τ xy
2 2
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Y 2 = σ xx2 + 3τ xy2
σ xx τ xy
2 2
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Aluminium Experiments show that for
Mild steel ductile materials yield in
shear is 0.5 to 0.6 times of
Copper
yield in tensile 57
Ramadas Chennamsetti
Octahedral shear stress theory
R&DE (Engineers), DRDO
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2 2
τ = Y 2
oct
9
2
[
2Y = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
] 58
Ramadas Chennamsetti
Octahedral shear stress theory
R&DE (Engineers), DRDO
Pure shear
σ1 = τy, σ2 = - τy, σ3 = 0
τ oct
2
=
1
9
[ ]
(σ 1 − σ 2 )2 + (σ 2 − σ 3 )2 + (σ 3 − σ 1 )2 = 6 τ y2
9
Same as von-Mises
theory in pure shear
2 2
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τ oct = τ y
2
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60
Ramadas Chennamsetti
Failure theories in a nut shell
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61
Ramadas Chennamsetti
R&DE (Engineers), DRDO
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62
Ramadas Chennamsetti