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Babak Hassibi, Ali H. Sayed, and Thomas Kailath
N. Kikuchi J. T. Oden
University of Michigan University of Texas
Ann Arbor, Michigan Austin, Texas
siam
Society for Industrial and Applied Mathematics
Philadelphia
Copyright © 1988 by the Society for Industrial and Applied Mathematics.
1098765432
All rights reserved. Printed in the United States of America. No part of this
book may be reproduced, stored, or transmitted in any manner without the written
permission of the publisher. For information, write to the Society of Industrial
and Applied Mathematics, 3600 University City Science Center, Philadelphia,
PA 19104-2688.
Two sections of text in Chapter 11 are reprinted from the following publications:
Preface ix
Chapter 1. Introduction 1
1.1. Introductory remarks 1
1.2. Scope and outline of this study 1
1.3. Historical remarks 5
1.4. Notation and conventions 13
References 475
Index 491
Preface
A decade will have passed from when we commenced writing this volume
until its appearance in print. Our original plan was to produce a volume on
contact problems in elasticity that focused on variational inequalities in elasto-
statics with an emphasis on approximation theory, finite elements, and numeri-
cal analysis. The first eight chapters of the final product still contain much of
the content of the original draft. Many copies of this draft circulated worldwide,
and the final, expanded scope of the work reflects our response to the various
readers, reviewers, and editors encountered along the way. Much of the added
material is drawn from more recent papers and results we have developed
with our students on frictional models and more general contact problems.
Despite the regrettable delay of years of rewriting, this final version still
contains much material published here for the first time.
Several colleagues and students read portions of the manuscript and made
suggestions that improved our presentation of this subject. We wish to thank
Professor Patrick Rabier and Drs. Y. J. Song, L. Demkowicz, L. Campos,
E. Pires, and J. A. C. Martins.
We have had the help of excellent technical typists during the preparation
of various drafts of this work over a period of ten years. An early draft was
typed by Mrs. Bernadette Ashman, another draft by Mrs. Rita Bunstock, and
various revisions by Mdmse. Nancy Webster, Dorothy Baker, Ruth Dye, and
Linda Manifold. To these patient and skillful friends, we owe our sincere
thanks.
We gratefully acknowledge that our studies of contact problems, particularly
the use of finite element methods to study contact problems in elasticity, were
primarily supported by the United States Air Force Office of Scientific
Research.
N. KIKUCHI
The University of Michigan
J. T. ODEN
The University of Texas
Nomenclature and Symbols
where Eijkh 1 < i, j, k, I < N, are the elasticities and u and v are
arbitrary virtual displacements.
B a constraint operator which defines an admissible set K.
C m (ft): a space of functions with continuous derivatives up to order m
defined on ft.
Eijk{: the components of Hooke's tensor; these are the elasticities of
the material.
F: a quadratic functional representing the total potential energy,
defined by
is defined.
7: a symbol to represent a numerical integration (a quadrature rule)
to approximate, e.g., an inner product
on a domain ft.
K: a subset of V consisting of displacements which satisfy the
unilateral contact conditions.
N: the unit vector inward normal to the surface of a foundation ^
Pjc(G): the space of all polynomials defined on G, the degree of which
is less than or equal to k.
Q: a space containing the range of B.
Sfc(ft): a finite element subspace of a Sobolev space, where h denotes
the representative size (diameter) of finite elements: h = maxe he,
/ie = dia(ft e ).
T, Tr, Tn: the Cauchy stress tensor, its tangential component to the surface
represented by the outward normal unit vector n, and its normal
component.
u(x): a displacement vector at a (material) point x in the body ft. An
arbitrary admissible displacement vector is denoted v.
V: the space of admissible displacements on which the virtual work
is well defined. It consists of displacement fields which satisfy
kinematical boundary conditions and which have finite energy.
V: the (topological) dual space of a normed linear space V.
W m>p (ft): the Sobolev space of order m, p, which is the space of classes of
functions with distributional derivatives of order m in I/(ft),
and which is equipped with the norm
Introduction
1.2. Scope and outline of this study. This monograph deals with the analysis
of contact problems in solid mechanics with emphasis on the problem of
equilibrium of elastic bodies in contact with both rigid and deformable founda-
tions. The first eight chapters of this work are focused on problems of
infinitesimal deformation of linearly elastic bodies and restricted to cases in
which the contact surface is lubricated so that no friction is present. In the
l
2 CHAPTER 1
The final pages of this work contain concluding comments and some
philosophical comments on how we feel research in this general area should
proceed. There are many important classes of contact problems not considered
here, numerous open problems remaining in the classes of problems con-
sidered, and many issues touched upon here that deserve further study. A
brief discussion of some of the important areas requiring much additional
work is given in the concluding paragraphs.
If P is the total external force applied on the punch parallel to the x3-axis,
then the contact pressure a - a(xl, x2) will satisfy the system of equations
3
where g = {(xl5 x 2 ,x 3 )eR |x 3 = 0}. When Tc is known, (1.2) and (1.3) con-
stitute a system of linear integral equations which can be solved for cr =
<r(xi, x2) and a. A number of closed-form solutions are known for such cases;
see Shtaerman [1], Muskhelishvili [1], or the summary in Chapter 5 of Lure
[1]. If Fc is not known in advance, the problem is nonlinear and another
condition, such as the "free boundary condition" (1.4), must be included in
the analysis. Nevertheless, exact solutions for some very special cases are
known (see Muskhelishvili [l,p. 483]). An excellent treatise on the analysis
INTRODUCTION 7
of contact problems by classical methods has been written by Glad well [1].
This work also contains many additional references to papers on this subject.
The general problem of the equilibrium of a linearly elastic body in contact
with a rigid frictionless foundation was formulated by Signorini [1] in 1933,
who presented a more complete account of his theory in 1959 [2]. The first
rigorous analysis of a class of Signorini problems was announced in 1963 by
Fichera [1] and was subsequently published in full by Fichera [2]. The work
of Fichera [1] represents the first treatment of questions of existence and
uniqueness of variational inequalities arising from the minimization of func-
tionals on convex subsets of Banach spaces. These particular results apply to
problems characterized by symmetric bilinear forms (or, equivalently, a quad-
ratic strain energy functional), but they do cover cases in which the energy is
not coercive and, therefore, compatibility conditions on the applied forces
must be imposed. In particular, Fichera considered the problem of minimizing
the total potential energy functional,
Here W(e(v)) is the value of the strain density W at a strain e(v) produced
by a displacement v, which is characterized by the quadratic form
for all v in K, where o-y(u) is the stress tensor produced by the displacement
field u:
(1.10)
Fichera also showed that a necessary condition on the data (f, t) in order that
there exists a solution of (1.9) is that
(1.11)
on the set
We see that the energy functional in (1.12) differs from that in (1.6) by the
surface integral over Fc. This surface integral represents the contribution to
the total potential energy of the body ft due to the normal contact pressures
T on Fc. In (1.12), v is an arbitrary (admissible) displacement field,
G:(H l / 2 (F c ))'^(// 1 (fl)) 3 is Green's operator for the elastic half-space and
g defines the initial gap between the two bodies (called, hereafter, the gap
between the bodies). Definitions and properties of the Sobolev spaces Hl(£l)
and // 1/2 (F C ), etc. are given in the next section. Since G(r) • n is the displace-
ment normal to the elastic half-space, the constraint v • n - G ( r ) • n < g means
that the normal displacement v • n cannot exceed the gap relative to the elastic
half-space g - f G ( r ) - n . Boucher [1] extended Fremond's results to linear
viscoelastic materials using a slightly different energy functional in which
displacement fields of both the elastic body and the supporting half-space
appeared. Another approach was taken in Kikuchi [1], [2] to solve two-body
contact problems which also employed Green's operator G, but which
expressed the contact condition differently than Fremond.
A difficult class of contact problems in elasticity involves the large transverse
deflections and buckling of thin elastic plates in which the transverse motion
of the plate is restrained by the presence of an elastic or a rigid surface parallel
to the undeformed middle plane. Other contact problems for elastic plates
involve cases in which the plate or one of its edges is resting on a rigid or
elastic foundation or cases in which a free edge of a plate can slide against a
transverse support. Variational formulations of such highly nonlinear prob-
lems, including questions of existence and uniqueness of solutions and bifurca-
tions of solutions, were studied by Duvaut and Lions [2], Naumann [1], [2],
John and Naumann [1], John [1], Do [1], [2], and Ohtake, Oden, and Kikuchi
[1]. The numerical analysis of certain problems of this type by finite element
methods was discussed by Ohtake, Oden and Kikuchi [2].
Variational methods for the study of rigid punch problems were also devised
by Duvaut [3]. For example, problems of the type described by (1.2)-(1.3)
10 CHAPTER 1
with p as defined in (1.1). A given number P is the total applied force to the
punch, and (3 is an arbitrary admissible depth of indentation. In this formula-
tion, the displacement u and the depth of indentation are obtained as the
minimizer to the functional (1.14). Several generalizations of the variational
formulations of the rigid punch problem are obtained in Kikuchi [7], [8] and
Kikuchi and Song [1]. There, rigid punch problems involving moments as well
as forces are analyzed. Johnson [1] has extended some of the results of Duvaut
[3] to elastoplastic foundations.
Essentially all of the work on contact problems we have mentioned up to
this point does not include the effects of friction. Duvaut and Lions [1]
formulated a restricted class of contact problems with Coulomb friction under
the assumption that the contact area and the contact pressure are known. The
particular problem of contact of an elastic body with a rigid foundation can
be approached by seeking minima of the energy functional
which simulate elastoplastic effects in friction have been factored into vari-
ational principles for contact problems by Oden and Pires [2] and Oden and
Martins [1]. We discuss these and related issues in more detail in Chapters
10-13.
A study of variational methods for a broad class of contact problems has
been undertaken by Kalker [1], [2]. In particular, Kalker [1] lists a variety of
variational principles for contact problems, identifies several solved and unre-
solved questions, and gives an extensive bibliography on the subject. In
conjunction to the rolling contact problem, friction problems have been studied
by many authors as listed in a survey paper by Kalker [3]; in particular, details
of rolling contact with dry friction can be found in Oden and Lin [1], Kalker
[4], [5], [6], Johnson [1], [2], [3], and Carter [1]. We discuss these topics
further in Chapters 13 and 14.
Similar work, aimed at using variational ideas as a basis for developing
discrete models of contact phenomena, was contributed by Panagiotopoulos
[1]» [2], [3], who, among other things, presented a numerical scheme for
solving Signorini's problem with friction based on stochastic optimization
concepts. In addition to the applications discussed by Panagiotopoulos, several
finite element methods for treating contact problems with friction have been
proposed in the engineering literature. As typical examples, we mention the
papers of Goodman, Taylor and Brekke [1], Chan and Tuba [1], [2], Hardy,
Baronet, and Tordion [1], Ohte [1], Tsuta and Yamaji [1], Francavilla and
Zienkiewicz [1], Hughes, Taylor, Sackman, Curnier, and Kanoknukulchai [1],
Fredriksson [1], Paczelt [1], Schaeffer [1], and Herrmann [1]. These authors
employed incremental analyses to control nonlinearities due to contact and
to model friction effects. Many of the techniques developed in these papers
are based on Lagrange multiplier or penalty formulations for handling the
contact constraint on the displacement field u, i.e.
where g is a given function representing the normalized gap between the elastic
body and the foundation. In Lagrange multiplier formulations, the multiplier
associated with (1.17) is the contact pressure. In other formulations, authors
frequently employ thin "bond," "film," or "interface" elements to model a
boundary layer around the contact surface. As shown by Okabe and Kikuchi
[1], these in fact correspond to penalty methods for handling the constraint
(1.17) in which the element thickness corresponds to the penalty parameter.
Contact problems involving large deformations and inelastic behavior are
dealt with sparingly in the literature. Contact problems in finite elasticity have
been studied by Oden et al. [1], [2], Haggblad and Sundberg [1], and others.
General slideline algorithms for treating the geometric problem of colliding
bodies have been given by Hallquist [1] and Hughes, Taylor et al. [1], [2] and
have been critically examined by Guerra and Browning [1]. Contact and impact
12 CHAPTER 1
for elastodynamic and viscoelastic contact problems with friction have been
contributed by Martins and Oden [2].
Models of the general rolling contact problem, with finite elastic and visco-
elastic deformation, friction, and inertia effects, were developed by Oden,
Becker, Lin and Demkowicz [1], and finite element solutions of a number of
special cases were analyzed. These highly nonlinear problems can involve
regular and noncompact bifurcation problems, the latter corresponding to the
emergence of standing waves in rotating cylinders. Rolling contact problems
of this type were studied by Oden and Lin [1], and some of their results an
additional references are given in Chapter 14.
The reader may find more complete lists of related work on contact problems
and of their analysis by variational and numerical methods in the key references
cited in this section. We shall also list other sources in the discussions that
follow.
1.4. Notation and conventions. Throughout this work, we employ notation
and conventions which are standard in modern mathematical literature on
solid mechanics and partial differential equations. Vectors and tensors are
denoted by boldface characters and index notation is used to describe their
Cartesian components. We also use the summation convention of summing
on all repeated indices. Thus, a vector v and a tensor T have components u,
and Ty, respectively, and 1 ^ i, j^ N, with N generally equal to 1,2, or 3.
We frequently deal with certain spaces of functions defined on a bounded
open domain ft in IRN, where IR N =r lili W» ^ is tne real nne > an d> generally,
N=l, 2, or 3. The boundary of ft is denoted F. Suppose that a Cartesian
coordinate system is established in R N and that a point in UN is given by
x = (xi, x 2 , • • • , X N ). We will sometimes use multi-index notation to denote
partial derivatives of functions u = M(X) defined on ft; thus,
(iv) Let C M (5), 0</c<oo, 0< A < 1, denote the Holder class of functions
defined on the closure of the set S^RN. Thus, C M (S) is the subspace of
Ck(S) consisting of those functions cf> whose derivatives Da<f> satisfy, for all
0^|a|^/c, the Holder condition with exponent A, i.e., there is a constant C
such that
where ||-1| denotes the Euclidean norm on UN. Then the regularity of Tr is
assumed to be determined by choosing k and A so that
(v) The class of all such sets satisfying the above conditions is denoted (£k'A,
and, if (iv) holds, we say that H e <£*•* or H is of class (£/c'A.
Note that if Oe <#0>1, (1 is said to be a Lipschitzian domain.
Occasionally, we will make reference to the well-known function spaces:
C m (n)= the linear space of functions v with partial derivatives Dav
(« = («,, a2, • - • , a N )) of all orders 0^ a|^m continuous on
H, m an integer 5:0.
c°°(a)= n~ =0 c m (n).
C™(O) = {ueC m (n)|support of v = closure {xen|u(x)^0} is compact
in ft}, 0<m<oo.
®(H) = the space of test functions defined on (1 (i.e., C^(fl) equipped
with the well-known locally convex topology).
Q)'(£l} = the space of distributions and the topological dual of S>(O).
L P (O) = the space of equivalence classes of measurable functions v for
which Jn v(\)\pdx<oo, Lebesgue integration being implied,
and equipped with the norm
The spaces Si(O) and 3)'(£l) are not metrizable. The spaces L P (H) are Banach
spaces, reflexive whenever Kp<oo, and L2(O) is a Hilbert space equipped
with the inner product (w, y)z,2(n) = Jn uvdx (M, v being real-valued).
INTRODUCTION 15
The spaces Wm'p(£l) are Banach spaces when endowed with the norms
where p'-p/(p-l), Kp<<x>. The norm || • ||*p>n in the dual space W~s'p'(fl)
of Wo p ((l) is defined in the usual way by duality:
16 CHAPTER 1
Here {•, ')s>p,n denotes the canonical duality pairing on W~*'p'(£l)x Wsdp(Q.);
i.e., if ge W~s'p'(a), then g(v) = (g, u)S(p>ft for every ve W^p(fl). We shall
denote the dual space of a general Banach space V by V, and its norm || • || *
by
etc. The spaces Hm(£l) are Hilbert spaces, equipped with the inner products
such as
so that
When the domain of the function is clear from the context, we will use the
simpler notation for the norms || • ||m,p,n, I I ' l| m ,n> etc., given by
etc.
We next recall the fundamentally important imbedding theorem. Let A c+B
represent the fact that the identity map from A into B is continuous and
compact.
THEOREM 1.1. (Sobolev-Kondrasov imbedding theorem). Letfte^*1'.
Then:
(i) J / p > l and kp<N, then W^Cft) <^Lq(£l) for q defined by
l/q = l/p-k/N.
(ii) / / p > l and kp = N, then Wk'p(tl) ^Lq(Sl) for q such that
\<q< +00.
(iii) //>> 1 and kp> N, then W^p(^l) qjC°' M (n), where
etc.
For additional details on properties of the spaces described in this section,
see for example, Adams [1], Kufner, John, and Fucik [1] or Necas [1].
We conclude this chapter with a response to a common question: Why do
we need spaces such as L p (ll) or // m (fl) to study contact problems in elasticity?
Primarily because continuum mechanics and variational formulations furnish
us with integral statements of the physical principles of mechanics which make
sense only for certain classes of admissible functions. A key consideration in
determining whether a given function is admissible is its regularity: how smooth
the function is. Not only do the spaces I/(O), Hm(H), etc. arise naturally in
weak or variational statements of boundary-value problems in mechanics, but
also they provide an elegant and systematic framework for quantifying the
concept of regularity: if, for example, it is known that u e // 2 (fi), then a
specific minimum degree of regularity of the function u can be inferred.
Moreover, this quantification of regularity is fundamental to the error analysis
of approximate methods such as finite elements; indeed, errors are naturally
measured in some appropriate Sobolev norm and rates of convergence depend
upon the order of the space and the regularity of the solution. We use these
spaces and these properties throughout this work.
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Chapter 2
Signorini's Problem
19
20 CHAPTER 2
We will assume that the functions %t are differentiate with respect to the x,
and t, that (2.1) is locally invertible, i.e.,
and that (2.1) can be inverted to give the x, in terms of the positions >>,:
such that ^3^X3, f = 0) a rigid and absolutely fixed body & which will be
called the foundation; ZF is to be conceived as an unbounded, semi-infinite
region in R 3 , the presence of which limits the extent to which the body can
displace in the y 3 -direction. We are interested in the deformation of the body
brought about due to its motion from its reference configuration to another
configuration at a fixed time f, > 0 at which some portion of the material
surface of the body comes in contact with the foundation &. For this purpose,
we can (and shall) ignore the dependence of the functions Xi> X^\ and M i>
1< / < 3 , on time t.
To simplify matters, suppose that the surface S of the foundation is defined
parametrically by the equation
and that the material surface Fc of the body Cl which contains that portion
of the total surface F of the body which comes in contact with 9 in the current
configuration is defined by the particles for which
where, for the moment, t/> and $ are assumed to be smooth functions and
*l>(y\ > ^2) — <j>(yi, y-i) for all points ( y l , y2) in the projection of Fc on the y ^ ,
y2 plane (here the notation <j>(y\,y2) is understood to mean that the rule
defining the surface Fc is used to define a new function on points lying in the
projection of Fc on the yl, y2 plane). Then, if (xj, x 2 , x3) is a particle on Fc,
its displacement must satisfy
and
where
where x = (xi, #2, to), Xt being defined in (2.1), x = (*j, x 2 , x3), and the usual
summation convention on repeated indices is used. Next we make two funda-
mental observations: first, if no tractions are applied on Fc, a compressive
normal stress must be developed at the points of contact, Tn is zero if no
contact occurs; second, if the foundation surface 5 is frictionless, the tangential
components of stress TT. at x e Fc must be zero. Thus, we must have for x e Fc,
Observe that in every case that (2.8) and (2.11) hold, we must have
Collecting these results, we arrive at the general contact conditions for the
case of a frictionless rigid foundation:
2.3. Incremental and linearized contact conditions. Let us suppose that the
body is displaced relative to its current configuration by a small amount
characterized by small increments AM, in the components of the displacement
vector. Then the kinematical contact condition (2.5) assumes the form,
wherein x = (xj, x 2 , (/>(*i, *2)) e T c . If the increments Aw, are small, the value
of 0 at x, + w, + Au, can be approximated by retaining terms linear in Aw, in
an expansion of ifj about yt - x, + M ; :
Now we observe that the components JV, of a unit vector normal to the
surface S of the foundation at the position (y}, y2, y3) are given by
where G(x, u) is a measure of the "gap" between the body and the foundation
prior to the addition of the increments Au:
However, this form of the linearized contact condition is not convenient for
our purposes because it involves the component of u normal to the surface S
of the foundation ^ and not the material surface Fc. Fortunately, for problems
involving infinitesimal deformations and for S and Fc sufficiently smooth, the
geometry of the body in its current configuration can be distinguished from
that in its reference configuration only to within terms involving infinitesimals
raised to powers of higher order. Thus, the surfaces 5 and Fc are necessarily
very close initially and are essentially parallel in the sense that N and G in
(2.20), respectively, can be replaced by the unit vector n normal to Fc and a
gap g normalized with respect to the surface Fc rather than G.
To verify this assertion, let us assume that the functions </» and if/ have
continuous first partial derivatives and bounded second partial derivatives
everywhere in their respective domains. Then, from (2>6),
where O ( - ) denotes terms of quadratic order and higher in |w,|, |u,J etc.
Retaining only linear terms, we have
Thus, introducing (2.21) and (2.22) into (2.8) (or (2.5)), dividing by V/|, and
using the notation (2.23), we arrive at the simplified constraint condition,
The normalized initial gap between 5 and Fc, defined by the function g in
(2.25), is regarded as part of the given data in contact problems since it can
obviously be calculated from the given functions $ and </>.
Now since <//-(/> = O(|u 3 |), u,,(x) = u,,(y) + O(\unJ • un\), and g(x) =
g(y)+ O(|w 3 • |w 3 ,,|), it is permissible within our linear approximation to write
(2.24) in the form
where T r = T • n — rnn.
Let v = (t>j) = (u,, v2, v3) and T = (T,-,), 1 < i, j < 3, denote arbitrary displace-
ment and stress fields in the body. A stress field T = T(X) is in equilibrium at
a particle x on the interior of H if
Similarly, if t is the traction applied on FF, the stress produced there must satisfy
This constitutive law characterizes a Cauchy elastic material. Since e(l is defined
in terms of the displacement gradients by (2.28), the constitutive equation can
also be written in terms of the functions vtj, and we will also use the notation
Here oy.(x, Vu), <rn(\, Vu) denote the tangential and normal components of
stress vector (or traction), respectively, written in terms of Vu, at a particle
xer c .
The system (2.31) characterizes Signorini's problem for the material defined
by (2.30). In virtually all of our subsequent developments,1 we shall be
concerned with hyperelastic Hookean materials, for which the response func-
tions in (2.30) take on the specific form
where Eijkl(\) are the components of Hooke's tensor at x and have the symmetry
properties.
Then Signorini's problem (2.31) becomes one of finding the displacement field
1
Some exceptions are discussed in Chapter 12 where inelastic materials are studied and in
Chapter 14 where finite deformations of elastic bodies are studied.
28 CHAPTER 2
u such that
Now let u be a solution of the Signorini problem (2.34) and suppose that
u € V so that u is also in the set K. Let v be an arbitrary element of K. Then,
if o-y(u) is defined by (2.35) l5 the virtual work produced by the actual stress
corresponding to u and the strain etj(\-u) produced by the (virtual) displace-
ment v-u (which, incidentally, satisfies the boundary conditions on F D ) is
SIGNORINI'S PROBLEM 29
We next assume that o"j/(u) and v-u are such that the following integration
by parts (Green's) formula is valid:
Since vt and w, vanish on FD and u is the solution of (2.34), we have, for all
veK,
Also, on F c ,
Minimization Methods
and Their Variants
This is the minimization problem for the functional F relative to the set K.
It is informative to interpret many of the mathematical notions to be
discussed here in terms of physical concepts familiar in solid mechanics. For
example, K can be thought of as the set of all admissible displacements
satisfying the essential (kinematics) and the kinematic contact conditions. A
reflexive Banach space V is the abstraction of the space of motions for which
the corresponding strain energy of the elastic body is finite, and its dual space
V can contain various applied body forces and tractions. An example of a
functional F defined on such spaces is, of course, the total potential energy,
which consists of the (total) strain energy and the potential energy of the
31
32 CHAPTER 3
where a ( - , - ) and /(•) are bilinear and linear forms, respectively. In this
setting, the bilinear form a(u, v) represents the internal virtual work produced
by the displacement field u, and v is an arbitrary virtual displacement. The
linear form/(y) then represents the virtual work done by external forces and
-f(v) is the corresponding force potential. Constraint operators B, to be
introduced later, are an abstraction of constraints on the admissible displace-
ments such as those restricting the values v -» v • n of the normal displacement
in contact problems or the change in volume (JBv = divv = 0) in problems
involving incompressible materials. The partial ordering "^" introduced in
§ 3.3. is a generalization of the inequality u(x)< u(x) which is applied at a
point x of a domain H for sufficiently smooth functions u and v.
The principal issue here is to establish sufficient conditions under which the
problem (3.1) has a solution. Ultimately, we will also want to characterize
such solutions when they exist. Toward this end, we introduce some definitions
which will enable us to specify concrete properties of F.
Weak semicontinuity. A function F: K -> R is said to be weakly lower semicon-
tinuous on K (or, more specifically, weakly sequentially lower semicontinuous)
if, for any sequence {uk}<=- K with the property that {uk} converges weakly to
u e K, we have
The functional is weakly upper semicontinuous if limsup k _,.oo F(w fc )< F(M).
If w fc -» u strongly in K and (3.2) holds, F is said to be lower semicontinuous;
upper semicontinuity is defined in an analogous way.
In (3.2), "lim inf" signifies the limit inferior of the sequence {uk}; "lim sup"
is the limit superior. Recall that {uk} converges strongly to u if and only if
linife^oo ||w fc -w|| =0; {uk} converges weakly to u whenever
where C0> 0, C, >0, and a > ft. Clearly, if (3.3) holds for all v<=K,F will be
coercive on K. In many important cases, the weak lower semicontinuity of F
can be established using the conditions listed in the next two theorems.
THEOREM 3.2. Let F:/C-»IR satisfy the following conditions:
(i) F i5 convex,
(ii) F i'5 G-differentiable on K.
Then F is weakly lower semicontinuous on K.
THEOREM 3.3. Let F:K-+R be G-differentiableThen the following are
equivalent:
(i) F15 convex,
34 CHAPTER 3
I u ||, || v || =s fji < oo, and U is a Banach space in which V is compactly embedded.
MINIMIZATION METHODS AND THEIR VARIANTS 35
Oden [2] points out that any operator DF satisfying (3.4) is pseudomonotone
in the sense of Brezis [1] and Lions [1].
Remark 3.2.4. We remark that a necessary and sufficient condition for (weak)
lower semicontinuity is that the epigraph of F,
Suppose that {en} is a sequence in (Lq(fl))m such that F(e,n)<\ and {en}
converges to e0. Then there exists a subsequence of {en}, denoted again by
{en}, which converges to e0 almost everywhere in ft.
On the other hand, / is convex on R m ; thus, by the Hahn-Banach theorem,
ae(IR m )' and feeR exist such that
(ii) IfK is a nonempty closed convex subset of Vand u e int K (int K = interior
o f K ) , then
Partial proof. Since some of these results are of special importance in later
developments, we will outline the essential ideas in the proof.
MINIMIZATION METHODS AND THEIR VARIANTS 37
for a given smooth function g, <E> is certainly not G-differentiable, but is convex
and lower semicontinuous. Indeed, even though the following limit may exist,
Here | • | denotes the norm on Q, C is a constant, and Rg (B) denotes the range
of B. The transpose B* of B is defined by
Here • * denotes the norm on the dual Q' of Q. Condition (3.17) essentially
expresses the fact that B* is bounded below as a linear operator from Q' into
V. Hereafter, in conditions such as this, we shall write "sup u6 v" with the
understanding that v ^ 0; i.e. the supremum is taken over all nonzero v in V.
Partial ordering on Q. Our next step in formulating an abstraction of a
constrained minimization of the type encountered in contact problems is to
introduce a partial ordering < on the Hilbert space Q.
We first recall the definition of a cone ^ in a linear space V. A nonempty
subset ^ of V is a cone if and only if A$ <= <# for A > 0; ^ is a cone with vertex
at the origin if and only if u e ^ implies AM e ^ for A >0. A cone with vertex
MO e V is the translation u 0 + ^ of a cone ^ with vertex at the origin.
A cone ^ of a linear space V is said to be proper if and only if
(i) ^ is a cone with vertex at the origin,
(ii) <£ is convex.
The importance of a proper cone is that it permits us to introduce an ordering
on elements of the linear space V. In particular, if ^ is a proper cone, we
introduce the relation
This ordering prompts us to refer to <# as the positive cone in V and to denote
it by <#+. Likewise, the cone <£_ = - (€+ is the negative cone in V and we write
M<uOM-ye^_ (or v - u e <#+).
Conversely, the introduction of any total ordering > on V defines the proper
positive cone,
It is not difficult to show that <#* is closed even if <#+ is not. If %>+ is closed
in V, then <#+ and <#* are related as follows: if u e V is such that
then u e <#+, i.e., u^O. This result depends strongly on the closedness of <#+.
We shall now consider a method for defining the positive and negative parts
of a vector in a Hilbert space. If Q is a Hilbert space with inner product ( • , • ) ,
and if <<o+ is a closed positive cone in Q, then the positive part p+ of a vector
p e Q will be defined as the projection of p onto <#+, that is, p+ shall be
characterized by the variational inequality (recall (3.9))
Using these definitions and the fact that p+e <&+, we easily verify that
is closed and convex. To show that L+(ft) is closed, it suffices to note that
every convergent sequence in L 2 (ft) contains an a.e. pointwise convergent
subsequence. Then we also have the characterization,
This can be easily verified by substituting p+ defined above into the left-hand
side of the variational inequality (3.23).
It is important to note that the definition of the positive part of a vector
depends strongly on the topology of the space Q. For instance, C+ =
(v € //'(ft) | v(\) > 0 a.e. in ft}. Then for p e //'(ft), p+ in Q = L 2 (ft) need not
be the positive part of p with respect to Q = //'(ft) in (3.23).
Constrained minimization problem. With the above conventions now estab-
lished, we can introduce an abstract form of an inequality constraint on
minimizers of the functional F of (3.13). For the operator B in (3.15) and g
given in Q, we define the set K c V by
MINIMIZATION METHODS AND THEIR VARIANTS 41
Since B is linear and continuous, and since the positive cone in Q is closed,
we easily verify that X is a closed convex set in V. The set K represents the
constraint set in the following constrained minimization problem:
Given F of (3.13), find u e K suchthat
where || • ||* is the norm of dual space V of V. The assertions thus follow
immediately from Theorems 3.4 and 3.7.
We note that the identity (3.29) implies that
We note that the results we derive below can be established using weaker
conditions than these, but conditions (3.31) are sufficient for all of the applica-
tions we have in mind. Under these assumptions, we have (see, e.g., Lions
and Stampacchia [1] and Kinderlehrer and Stampacchia [1]):
42 CHAPTER 3
THEOREM 3.10. Suppose that (3.15) and (3.31) hold, and that the set K of
(3.26) is nonempty. Then there exists a unique solution u to the variational
inequality
Before proving this theorem, we shall establish a basic lemma. Let a one-
parameter family of bilinear forms a,( •, •) on V x V be defined by
where a 0 ( ' , ' ) and b( •, •) are the symmetric and antisymmetric parts of a( -, •):
is solvable V/e V. Then it is solvable for ar( •, •) replaced by at( • , •), where
T < f < r + f 0 , tQ<m/M.
Proof. Let w be an aribtrary element of V and define f,(w) e V by
Let us define the correspondence between w and the solution of this last
inequality by a map T: V-» K:
Suppose, for the moment, that T has a fixed point UQ: TuQ = u0. Then, for
the choice w = u0, we have
But the fact that a solution exists to this last inequality is precisely what we
set out to prove. Thus, it suffices to show that T has a unique fixed point for
certain values of t.
MINIMIZATION METHODS AND THEIR VARIANTS 43
Toward this end, let M, = Twl and u2 = Tw2 for wlt w 2 e V, i.e., ul and u2 are
solutions of (3.34) for choices w = Wi and w = w 2 , respectively. Then
i.e.,
This shows that if t - r< t0 where t0< m/M, then the map T is a contraction,
and, therefore, admits a unique fixed point. D
Proof of Theorem 3.10. Consider inequality (3.33) for the case r = 0. This
has a unique solution by virtue of Theorem 3.8 since a 0 ( ' , ' ) is symmetric.
Applying Lemma 3.1, we establish the existence of a unique solution to (3.33)
for tl<m/M. Another application of Lemma 3.1 reveals the existence of a
unique solution for a t ( - , • ) where tl<t2<tl + t0,t0< m/M. Continuing in this
way, we apply Lemma 3.1 a finite number of times to conclude that a unique
solution to (3.33) exists for T = 1. But a,( •, •) = a( •, •). Hence, Theorem 3.10
is proved.
and
THEOREM 3.12. The conclusions of Theorem 3.11 also hold if condition (3.39)
is replaced by the condition
THEOREM 3.13. Let (3.37), and (3.37)2 hold and let 4 > : K x J V - > I R be such
that there exists v€ K, q->$>(v, q) is concave and for every <je N, v-*3?(v, q)
is convex. Then, i f ( u , p ) is a saddle point of thefunctional L+4>, it is characterized
by the pair of variational inequalities
Proofs of Theorems 3.11,3.12 and 3.13 can be found in Ekeland and Temam
[1, Chap. 6]; see also Oden [7]. Notice that u-» L(v, q) and q-* L(v, q} need
not be convex or concave, respectively, in order that (3.42) hold. Again, several
generalizations are possible.
Application. Let us now return to the constrained minimization problem
(3.27) discussed in the previous section:
where the ordering relation "<" is defined on the dual space Q' as in (3.21).
The Lagrangian L for this problem is defined by
On the other hand, it follows from the surjectivity of the mapping B: V-» Q
that a positive constant a exists such that (recall (3.17))
where || • ||* is the norm on the dual space V of V. Thus, if |g|*-»+oo, then
|| vq || -> +00, and, therefore,
Let j'.Q^Q' denote the Riesz map for the Hilbert space Q; i.e., for every
deQ', a qQ£Q exists such that [d,q] = (q0,q)Q and j(q0)= d. Then saddle
points (ue,pe) of Le satisfy
It is clear that all conditions in Theorem 3.11 are satisfied for the perturbed
Lagrangian Le. Thus there exists a unique saddle point (ue, pe) e Vx N satisfy-
ing (3.50) for each parameter e>0. Since (ue,pe) is the saddle point of Le,
Hence,
In view of (3.14), this last result means that a constant M > 0 can be found
such that
Thus, condition (3.17), which follows from the continuity and surjectivity of
B, gives
The next step is classical. The solutions (uE,pE) obtained as saddle points
of the perturbed Lagrangian Le as e approaches zero form sequences {ue} and
{pe} with the parameter e as an index. From the above arguments, these
sequences are uniformly bounded in V and Q (i.e., ||ue||<M, |/>e|*< M Ve>
0). In Hilbert spaces, closed balls are weakly sequentially compact. Thus there
must exist subsequences, also denoted {UE} and {pE}, which converge weakly
in V and Q to elements u and p, respectively: ue—*u, pe-*p. Moreover, due
to the continuity and linearity of a( • , v) and [ •, Bv] if we pass to the limit in
(3.50) as e-»0 (with ( u e , p £ ) entries in the weakly convergent subsequences
just identified), we obtain
Since v -> a(v, v) is weakly lower semicontinuous, passing to the limit as e -»0
yields
where j is, as before, the Riesz map from Q to Q'. Thus, in view of the
definition (3.23), the positive part of pe in Q' is
and
i.e.,
MINIMIZATION METHODS AND THEIR VARIANTS 49
instead of (3.52). We will see in the next section that problem (3.53) also arises
in penalty formulations of constrained minimization problems.
Remark 3.4.1. A detailed analysis of saddle point problems for the case
and for the more general setting in which B is not surjective can be found in
Oden and Kikuchi [4] and for B neither linear nor surjective in Oden [2].
Remark 3.4.2. Condition (3.17) plays a fundamental role in the study of
constrained minimization problems. The importance of conditions such as this
in studying the consistency and stability of finite element methods for such
problems was first recognized by Babuska [1] and such conditions formed the
basis of the theory of approximation of saddle point problems advanced by
Brezzi [1]. We refer to (3.17) as a Babuska-Brezzi condition for problem (3.47).
Remark 3.4.3. The theory developed here can be further generalized by
removing the assumption that Rg (B) = Q. If B is not surjective, then B* may
have a nontrivial kernel. However, all of the results carry over immediately
to the case in which the space Q' is replaced by the quotient space Q'/ker B*
when the range of B is closed in Q. Then, under the conditions of Theorem
3.14, the solution (u, p) of (3.47) is unique in Vx Q'/ker J3*; i.e, p is unique
up to an arbitrary element in ker B*.
Note that in this case, condition (3.17) is replaced by
where
for (v, q}& Vx N. For additional information on this case, see Oden [2], Oden
and Kikuchi [4], or Fortin [1].
Cf
It remains only to show that the weak limit u lies in K. Toward this end,
let DI denote a fixed member of K. Then
so that
Moreover, if F and P are G-differentiable, the ue satisfy (3.58) for each e > 0
and the limit u satisfies the variational inequality
i.e.,
Thus, we have
This means precisely that the functional P is Frechet (and thus Gateaux)
differentiable on V, and its gradient DP(u) is given by
and
respectively, we have
Therefore,
and
The estimates (3.67) and (3.68) show that the sequence { ( u e t p e ) } of the
penalized solutions, i.e., the saddle points of the perturbed Lagrangian L6,
converges to (M, p) strongly in VxQ' as e-»0.
General properties of penalty methods for more general problems can be
found in Oden [6] and Kikuchi [5]; the latter work contains estimates of the
rate of convergence of more general penalty approximations. For applications
to constrained problems in elasticity and fluid mechanics, see Oden and
Kikuchi [4], Oden [7], and Oden, Kikuchi, and Song [1].
Chapter 4
and
55
56 CHAPTER 4
and j: Q -» Q' is the Riesz map. The notation and results of Chapter 3 are used
throughout this chapter.
As is well known, there is an extensive literature on finite element methods
for the numerical analysis of a wide range of problems in mechanics and
mathematical physics; see, for example, the.voluminous bibliography by Norrie
and de Vries [1]. Accounts of the mathematical theory of finite element
approximations of elliptic equations can be found in the books of Ciarlet [1],
Oden and Reddy [1]; for a summary, see Oden and Carey [4]. Elaborate
accounts of the approximation and numerical analysis of variational
inequalities are given in the two-volume work of Glowinski, Lions, and
Tremolieres [1] and the monograph of Glowinski [1]. A major approximation
theorem for elliptic variational inequalities was established by Falk [1] and
some applications and extensions of Falk's results were reported by Kikuchi
[1], [2], [3], Oden and Kikuchi [1], [3], Brezzi, Hager, and Raviart [1],[2],
and Pires and Oden [1]. We will cite additional sources relevant to the present
work in the discussions to follow.
4.2. Some properties of finite element approximations. Our first step toward
an approximation theory for variational inequalities by finite element methods
is to briefly review some of the results of Ciarlet and Raviart [1] and Ciarlet
[1] on the interpolation theory of finite elements. The problem is this: given
a function u in a Sobolev space Wlc+1'p(O), fe^ 1, 1 </?<oo, and an interpolant
uh of u constructed using finite elements over which u is approximated by poly-
nomials of degree k, estimate the interpolation error u — uh in a Sobolev norm on
Wm'q(tt), 0<m^k, 1 < g <oo. These estimates are, in general, asymptotic in
the sense that they hold as /j-»0, h being an appropriate mesh parameter
(typically h is the diameter of the largest element in the finite element mesh).
The principal ideas are summarized as follows:
1. Let H be a convex polygonal domain in R N and suppose that we construct
a partition Qh of O into a number E = E ( h ) of subdomains {He}. These domains
are referred to as finite elements if
Let G be any finite element which is the image ofG under a bijective affine map
andletveWk+l>p(G).FinallyJetUGe£(Wk+l'p(G), Wm'p(G)) be a projection
map such that
A A A A A
Then there exists a constant C, depending only on G, P(G), and D(G), such that
wherein h0 = dia (G) and pG = sup {dia (5): 5 is a sphere contained in G}.
The first complete proof of interpolation results of this type for Lagrange
and Hermite elements in 1RN was due to Ciarlet and Raviart [1] who also
extended them to curved isoparametric finite elements [2]. Theorem 4.1 rep-
resents a further refinement of the original work and is due to Ciarlet [1], [2].
If aN is the volume of the unit sphere in R N , then dia (fl e )=s o~Nh". Also
note that \v\k+l<p<[le< |H|fc+iip,ae, ||-|U+i.p.n. being the Sobolev norm on
Wk+l'p((le). Moreover, if 5 h (H)c: Wm'q(Sl) is the linear space spanned by the
global finite element basis functions obtained by "connecting" elements
together in the usual way, and if 0^(0) £ S h (ft), we may define an operator
II: Wk+l'p((l) + Sh(tl) such that n/> = />VpG0» k (n) and n|ft = nfte. Then, for
u e Wk+l>p(Cl),
and let II: Wk+l'p(Cl)-> Wm'p(Sl) satisfy Up = p Vpe^tt), n|fte = nfte. Then
Let veHr(CL) and suppose r</c; then the elements in the finite element
subspace 5^(0) <= Hm(£l) can approximate v no better than that which would
be possible using complete polynomials of degree r. It follows from (4.5) that,
in this case, as h -> 0, we have
holds for the constant C independent of h and all (f>h e 5/,(O). If the inverse
assumption holds on Sh(fl), the inverse inequality,
is valid for 5 j < s 2 ^ m , and the constant C is independent of h and all (f>h.
Furthermore, if the domain fl is smooth, a function ge// r ~ 1 / 2 (F) can be
approximated by the traces of a function <£,, e Sh(fl) with the following interpo-
lation property: for the constant C independent of g, h, and $/, e S/,(ft),
where -y is the trace map from Hm(£l) into Hrn~l/2(Y). In the following analysis,
we shall use the interpolation properties (4.7) and (4.10) and the inverse
inequality (4.9) with the understanding that m and r are arbitrary real numbers.
Because we intend to analyze approximations of variational inequalities,
we need to introduce interpolation properties, due to Falk [1], valid for
functions in closed convex subset of H m (ft): Let S be the set of all nodal
points in the finite element model, and let g E Hm(tt) D C°(f}). Then we have:
60 CHAPTER 4
THEOREM 4.3. Let (f)h e Sh(£l) be a unique element such that (f>h = v on 2 for
a given function v e Hr(Cl) fl C°(n). Let
and
The proof of the above theorem follows from Falk [1] and the interpolation
theory on the whole space Hm(fl) and Sh(£l). In the following analysis, we
use the notation Vh to express a finite element approximation of V such that
Ho(fl) c Vc // m (a). Thus, Vh may be a subset of the space Sh(fl) introduced
above.
Note that the definition of the set Kh is ambiguous at this stage, because its
precise definition depends upon characteristics of the constraint and the type
of finite element approximation. The parameter h is related to the dimension
of Vh and corresponds to the mesh parameter described in the previous section.
It suffices to consider approximations by families of finite dimensional spaces
with the property that
Then, ifuh e Kh is the solution o/(4.18), there exists a constant C> 0, independent
ofh, such that
Also,
62 CHAPTER 4
The estimate (4.22) now follows from Young's inequality (e.g., ab<ea2+
b2/4e, e>0) and the fact that for positive a, b, c, a < 6 + c implies that
v/a<v/fe + x/c. D
Remark 4.2.1. If Kh c: K, then we can set v = uh in (4.22). Then (4.22) reduces
to the simpler estimate
Then Au-f = 0 and estimate (4.22) reduces to the classical result for linear
elliptic problems
for every ve K. This shows that w*e K is the solution of (4.14) and that this
solution is a unique solution. Thus, it has been established that the sequence
uh converges weakly to u = u* as h -> 0.
Now the estimate (4.23) yields
for the choice v = u G K. The coercivity of the bilinear form (4.15), thus, implies
that the sequence uh converges strongly to u e K, i.e.,
In such cases, an error estimate in terms of the error in the total potential
energy F(u) =|a(u, t>) -/(u) can be obtained which is more convenient to use
in numerical experiments.
THEOREM 4.5. Let the conditions of Theorem 4.4 hold and suppose that the
bilinear form « ( - , - ) is symmetric. Let F ( v ) = \a(v, v)-f(v), u e V. Then, for
every v e K and vh e Kh,
On the other hand, convexity and differentiality of F imply that for any v e K
Throughout our analysis we assume that conditions (3.14) and (3.15) are in
force:
(i) B e £( V, Q) is surjective,
(ii) a(-,-):VxV-*Uis continuous and coercive.
FINITE ELEMENT APPROXIMATIONS 65
Then there exists a unique solution (uh,ph)E Vh x Nh of the finite element approxi-
mation (4.28) of the saddle point problem (4.26).
Proof. This follows from Theorem 3.12. D
Our next task is to obtain an estimate of the errors || u — uh \\, ||| p — ph ||| under
the assumption that
and
for every q e N, qh e Nh, and vh£ Vh, where \ - * is the norm on Q'.
66 CHAPTER 4
In this last step we have used the last inequalities in (4.26) and (4.28) to show
that
This is almost the desired result, (4.32); but we have not yet used the critical
condition (4.30). Toward this end, we again apply (4.34) to obtain, for each
qheNh, vhe Vhi
According to Yosida [l,p. 206], the open mapping theorem guarantees that
if Rg(B) = Q, then a constant c > 0 exists such that for each </> e Q a v^ e V
exists such that Bv(t, = (f> and ||uj| < c|</>|. Thus, \(f>\'1 ^ cHuJI' 1 , </>^0. Hence,
for any vh e Vh,
Theorems 4.6 and 4.7 above can be obtained by slight modification of the
analysis in Kikuchi [9], see also Oden, Kikuchi, and Song [1]. In some
applications, the result in Theorem 4.7 enables us to study the "stability
condition" (4.30) using the norm |||-||| rather than the dual norm • *.
(iii) For CQ^ a positive cone in Qh, we define </>£ for </>h e Qh by
The question which naturally arises at this point is "where does the space
Qh enter the formulation?" It so happens that intrinsic to any finite element
penalty method is a space Qh of approximate Lagrange multipliers. We will
show below that an appropriate finite dimensional space Qh is determined by
each choice of Vh and quadrature operator / [ • , • ] .
With these preliminaries now established, we pose the following finite
element approximations of (4.38):
Given e > 0, find ueh e Vh such that
Let us assume for the moment that (4.41) can be solved for a unique uEh in
Vh. Then as our approximation peh of the Lagrange multipliers associated with
the constraint Bueh - g < 0 we will take the unique peh in Q^ satisfying
for all vh e Vh. As will be seen later, this relation contributes to the characteri-
zation of the space Qh. Note that with (4.42) in force, (4.41) can be written
A mixed method. Let {ueh} and {pKh} denote sequences of solutions to (4.43)
(peh being defined by (4.42)) obtained for a fixed mesh as e tends to zero.
We will now demonstrate that the sequence {(ueh,pEh}} converges to a pair
(uh, ph) e Vh x Qh which is a solution of the system
where
Clearly, (4.44) describes a type of mixed finite element method in which the
approximate rule / [ • , • ] is used in place of the exact scalar product when
evaluating the penalty term.
70 CHAPTER 4
THEOREM 4.9. Suppose that (4.27) and conditions (4.39) hold and let peh be
defined by (4.42). In addition, suppose that there exists a number ah>Q such that
Then the sequence {(ueh,peh)} converges to the pair (uh,ph) satisfying (4.44) as
e-»0.
Proof. Equation (4.43) and condition (4.46) yield
Since it is clear from (4.27) that the sequence of numbers \\ueh\\ is uniformly
bounded in e, the uniform boundedness of \\\peh\\\ m e follows from this last
inequality. Thus, there exists a convergent subsequence of {peh} in any
topology. Introducing these convergent subsequences {(ueh,peh)} into (4.43)
and taking the limit as e -» 0 yields
imply
for every vhe Vh such that I[(Bvh-g)+, (Bvh-g)+] = Q. Passing to the limit
e -+0 yields (4.47). Therefore, for qh e Nht
FINITE ELEMENT APPROXIMATIONS 71
The uniqueness of the solution (uh,ph) of (4.44) implies that the full
sequences {uBh} and {peh} converge to uh and ph, respectively, instead of only
subsequences of {ueh} and {peh}- 0
Our ultimate objective is to determine estimates of the errors ||ueh — u\\ and
HIp eh -jp|||. As an intermediate step, we will next develop estimates of \\ueh - uh\\
and\\\pEh-ph\\\.
THEOREM 4.10. Let the conditions of Theorem 4.9 hold and let (ush, pEh) and
(uh> Ph) be solutions of (4.41) and (4.44), respectively, pEh being given by (4.42).
Then there exist positive constants C\ and C2, independent of e, such that
Thus
We now find estimates of \\uh -u\\ and \\\ph -p\\\, where (u,p)e Vx N is the
solution of the saddle point problem (4.26). Let
and
for every vheVh, qhe Nh, and q e N, where C,, i = 1, • • • , 4, are constants
independent ofh and (u,p).
Proof. Equations (4.26) and (4.44) imply
and
Using this result and the triangle inequality, we obtain (4.53). Combining
(4.56) and (4.58), using (3.14) and applying Young's inequality gives (4.54). D
As a supplementary result, we note that by employing arguments similar to
those used in the proof of Theorem 4.7 we can obtain an estimate of \ph -p\*.
THEOREM 4.12. Suppose that the conditions of Theorem 4.10 and (4.36) hold.
Tlien there exists a constant C such that
5.1. Introduction. The preceding chapters have dealt with certain classes
of abstract constrained minimization problems and their approximations
which, we will ultimately show, have direct application to contact problems
in elasticity. In this chapter, we complete our development of mathematical
preliminaries by establishing several key results of a concrete analytical flavor.
The considerations here have to do with more detailed questions of analysis:
for specific cases of variational problems in elasticity, what forms do the
functions « ( - , • ) > /(•)» F ( - ) , B, etc. assume, what are their mathematical
properties, in what spaces do the displacements, stresses, and contact pressures
belong, how are these spaces related, and, in other words, what precisely is
the mathematical framework for contact problems in elasticity?
These and related questions lead us herein to the study of various properties
of Sobolev spaces, trace theorems, Green's formulas, and, finally, of Korn's
inequalities which are crucial in the study of the existence of solutions to
variational problems in linear elasticity. Trace properties of Sobolev spaces,
for example, are essential if we are to define precisely kinematic contact
conditions on the candidate contact surface Fc. Since such contact conditions
involve inequalities, we must consider the meaning of partial orderings in
Sobolev spaces as an extention of the ordinary ordering defined by inequalities
of real numbers. Green's formulas for functions in Sobolev spaces are needed
to characterize and interpret weak or generalized solutions of variational
problems and to assess the relationship of such solutions to classical solutions.
In other words, their use demands a consideration of the regularity of solutions.
Furthermore, trace theorems and Green's formulas are used to assess which
of many various boundary conditions may be taken into account in a given
variational formulation of a boundary value problem. Finally, Korn's
inequalities enable us to establish well-posedness of variational formulations
75
76 CHAPTER 5
and are crucial in the proof of the existence of solutions to variational boundary
value problems.
To set the stage for this study, we begin by considering the deformations
of a hyperelastic body He R N subjected to applied body forces f and surface
tractions t. The fact that the body is hyperelastic means that there exists a
differentiable stored energy function w, representing the strain energy per unit
volume of material, which characterizes the mechanical behavior of the material
of which the body is composed. The function w is assumed to be given as a
function of the material gradient Vv(x) of the displacement field v at x and
possibly, of the material particle x, and we express this fact by writing
where FF is the portion of the boundary F of the body on which tractions are
applied and ds is an element of surface area. However, we will frequently find
it advantageous to view / as purely a given linear functional on V which may
not be generated by measurable functions f or t.
The precise definition of the space V will, in general, depend upon the form
of the strain energy function w. In the present chapter, we confine our attention
to "small" deformations of Hookean bodies for which the strain energy is
given as a quadratic form in the infinitesimal strain tensor e:
In (5.3), the functions Eijk, are the elasticities characterizing the material. We
assume that these functions satisfy the following conditions:
where
The product space H ! (n) is a Hilbert space equipped with the inner product
and associated norm
When (5.3) and (5.4) hold, the total potential energy functional assumes
the form,
Thus, F is well defined on the subspace V of the Sobolev space H^O) whenever
/is continuous; i.e., whenever/belongs to the topological dual V of V. Then
|/(v)|<C|M|, and F(v)<((M/2)||v|| 1 + C)||v||1 for all veV.
Moreover, for 6 > 0,
with
78 CHAPTER 5
5.2. Order properties of spaces H^ft) and Hm(fl). The class of problems^
we have identified for study are naturally posed in the setting of Sobolev
spaces. It is important to record certain of their properties which have special
significance in the analysis of contact problems. Our first step is to define a
partial ordering relation ">". Let ft' be a subset of ft, ft'<=ft. A function
w e //'(ft) is said to be nonnegative on ft' in the sense of //'(ft), or simply
" w > 0 on ft' in //'(ft)," if there exists a sequence {wm}e W1>X>({1) such that
Hence, vkm-» v in //'(ft), which means that t>>0 on ft' in //'(ft), i.e., C+ is
closed. Likewise, if veC+, vke Wl'°°(£l), vk(\)^0 for xeft', and vk-*v in
//'(ft), then avk(\) > 0 and avk -> av for a > 0, a e R. Therefore, av e C+ for
a > 0; in other words, C+ is a positive cone with vertex at the origin in //'(ft).
It follows that ">", as defined above, is a partial ordering on //'(ft). Indeed,
if ("ml, {vm}, {wm}e W''°°(ft) and um-*u, vm^>v, wm->w in //'(ft) as m-*oo,
then we have
(i) M m (x)s=i> m (x) => M m (x)-u m (x)>0, xeft', => w - u > 0 on ft' in
//'(ft); i.e., u-v is nonnegative on ft' in //'(ft);
(Hi) For we //'(ft), if M > U on ft' in //'(ft) then ti + w > t > + w on ft' in
//'(ft).
ORDERINGS AND TRACE THEOREMS 79
(iv) If a > 0, a e R, and u > u on ft' in //'(ft), then aw > ay on ft' in //'(ft).
Frequently, we omit the qualifying phrase "on ft' in //'(ft)" for simplicity
and just write u > 0, u > v, etc. when no confusion is expected.
We can replace the requirement of strong convergence of {um}e W 1>00 (ft)
by weak convergence in the definition of the ordering ">" on //'(ft). Suppose
that
It is well known (see Mazur's lemma in, e.g., Yosida [1, p. 120]) that for any
weakly convergent sequence {um} in a reflexive Banach space with limit u,
there exists a sequence {vk} of convex combinations,
such that {vk} converges strongly to u. Clearly, u f c (x)>0, xeft'. Hence, u > 0
on ft' in //'(ft). Conversely, if (5.13) holds, then w > 0 since every sequence
strongly convergent in //'(ft) also converges weakly. That is, (5.15) provides
an equivalent definition of the ordering ">" on //'(ft) in that it implies w > 0 .
THEOREM 5.1 (Kinderlehrer and Stampacchia [1]). Let ft be a bounded
domain in IRN, and let ft'c ft. For u e //'(ft),
(i) i / M > 0 on ft' in //'(ft), then w > 0 a.e. on ft', and
(ii) i / w > 0 fl.e. o« ft, f/ie« w > 0 on ft in //'(ft).
Proo/ (i) If {tij converges to u in //'(ft)(w m (x)>0,xeft', u m e W'-°°(ft)),
then {um} also converges strongly to u in L 2 (ft). But then it is known that
there exists a subsequence [um] which converges to u almost everywhere in
ft; i.e., M m >(x)>0 and um<->u a.e. in ft', which implies w > 0 a.e. in ft'.
(ii) Let {um}<= W''°°(ft), w m (x)>0, satisfy um^u in //'(ft) and um^u a.e.
on ft in a pointwise sense. We will always have max ( u m , 0 ) > 0 (pointwise);
also, by hypothesis, u = max (u, 0) a.e. on ft, where
Note that we//'(ft), but we do not know at this point whether or not
max (u, 0)e //'(ft). In the present proof, however, we need only have
max (u, 0) e L 2 (ft). We will show later that, in fact, max (u, 0) does belong to
//'(ft). Continuing, we now have
in L 2 (ft), M must, in fact, coincide with M. We have thus shown the existence
of a sequence {wm} of Wl'°°(ft)-functions such that w m (x)>:0 and um^u in
//'(ft). But this is precisely what is meant by M > 0 on ft in //'(ft). D
Thanks to Theorem 5.1, we see that in //'(ft), if ft' = ft we need not
distinguish the set C+ defined by (5.14) from the set
Thus, we will use the order notation suggested by (5.14) and (5.16) interchange-
ably in subsequent discussions.
We next consider a function max (M, 0) for a given function u e H'(ft). We
shall investigate whether or not max (u, 0) e //'(ft).
LEMMA 5.1 (Kinderlehrer and Stampacchia [1]). Let t^> d(t) be a C ! (R)-
function such that 6' is uniformly bounded; say, |0'(0| — MO- Let ft be an open
bounded set of UN and let !</><oo. J/ue Wl'"(ft), then 6(u)e Wl'p(ft) and
Proof. For any u e Wl'p(ft), there exists a sequence {wm}e C'(ft) such that
w m -» M in W 1>p (ft) and um^>u a.e. in fl. Since the mapping 6 is continuously
differentiate, 0(w m )e Cl(&). Moreover, since &' is uniformly bounded
This shows that 6(um)-* d(u) in L P (O). On the other hand, we have a.e. in fl,
or
ORDERINGS AND TRACE THEOREMS 81
Define
(see Lemma 5.1). Since ^ E (U)-»|M| as e-»0 pointwise a.e. in ft, 0 y E (w)->|u
in L p (ft). In addition, we have
Hence
82 CHAPTER 5
In particular,
THEOREM 5.2 (Kinderlehrer and Stampacchia [1]). Let ft<=RN and let
we Wl'p(Cl), !</><oo. Then max(w,0)e Wl-p(fl) and
and
Properties similar to those listed in Theorem 5.1 may be shown to hold for
functions in Hm(tl). However, if w e Hm(fl), m > 2, the function max (w, 0)(x)
defined by
may not belong to JF/ m (fl)! Consider, for example, M(X) = X in H2(-l, 1). It
is clear that max (u, 0)^ H2(-\, 1) since (max(w, 0))' is not C 1 at x = 0.
However, the set
is closed in H m (a).
ORDERINGS AND TRACE THEOREMS 83
5.3. Boundary spaces and trace theorems. For the components vt of admis-
sible displacements belonging to the Sobolev space Hl(Ct), it is possible to
assign a precise meaning to extensions of such components to spaces of
functions defined on the boundary if we are to deal with boundary conditions.
We will now show several properties of such spaces of "boundary values" of
H'(n)-functions.
The spaces Z/(F), W fc>p (r). Recall, in particular, that we describe the smooth-
ness of the boundary F of a bounded domain (I by introducing a finite open
cover {(/ r }ff=i of F and a set {Ar}?Ll of coordinate transformations satisfying
properties (1.18). Suppose that such a construction is available which com-
pletely characterizes F. Then a subset G <=• F will be referred to as a zero subset
of F if the sets G'r^UN'1 defined by
have zero measure in IR*"1 for each r. Moreover, we will say that a function
u is defined almost everywhere on F if the points of F at which u is not defined
form a zero subset of F. Continuing, let a function u be defined almost
everywhere on F. Then u is said to belong to L P (F), 1 <vp<oo, if each of the
functions ur defined by
with {0 r }fli a partition of unity subordinate to the cover {£/r}?ii, for any finite
cover, since any other cover with the same properties leads to an equivalent
norm on I/(n). Similarly, the space Wk>p(r) fc>0, 1 < /> < oo, F e C f c ~ u , which
is a subspace of LP(T), is defined as the set of all (equivalence classes of)
functions w e L p ( f l ) such that w r e Wk>p(Sr), r = l , - - - , M . Then Wk'p(r)
becomes a reflexive Banach space for !</><oo with the norm
We again emphasize that the norms defined in (5.22) and (5.24) appear to
depend upon the particular covering {U r } we have chosen for F. However, it
can be verified that these various norms defined in (5.22) (or (5.24)) are all
equivalent for any choice of covering and family of local coordinate systems
(for the case of a C°°-boundary see Lions and Magenes [1, p. 35]).
Spaces Lp(2) or W^CL) are defined as above for an open subset 2 of F.
For the subsequent analysis, we shall only be interested in the spaces L2(F)
and //1/2(F), i.e., LP(F) and W^T) for the choices p = 2 and k = 1/2.
The space H^2(L). Let the boundary F consist of the union of the closure
of two or more open subsets FD and 2, e.g., F = FD U 2. In general boundary-
value problems with mixed boundary conditions, we frequently encounter
cases in which we must deal with traces of Hl(fl)-functions on such boundary
segments. In some instances, the space //1/2(2) is inappropriate for dealing
with such traces. One difficulty is that the extension by zero of a function in,
say, H 1/2(2) to all of //1/2(F) is often impossible. Indeed, //1/2(F) is the image
under the trace operator of Hl(£l), but one can easily construct functions on
F which are not traces of functions in Hl(fl). For example, if <f> = constant
on 2 and </> = 0 on F0, then <f> is not the trace of a function in Hl(£l) (ft cz R 2 ).
These technical difficulties will be resolved by introducing a special subspace
of H 1/2(2) given in Lions and Magenes [1, Chap. 1]. To define this space, we
first introduce a function p on 2 which has the properties:
(i) p is sufficiently smooth,
(ii) p is positive on all of 2,
(iii) p vanishes on the boundary 32 of 2,
(iv) p vanishes on 32 at a rate
Then the space //oo2(2) shall be defined as the subspace of H 1/2 (2) given by
Thus, functions v in //oo2(2) must decay rapidly enough at 32 for the product
p~l/2v to be an L 2 (2)-function. An inner product and norm can be defined
on f/oo2(2) according to
When assigned this inner product, H^o2(2) becomes a Hilbert space strictly
contained in H1/2(2) with finer topology which is such that the imbedding
Hio2(2)c: H1/2(2) is continuous. Again, the norm on ffoo2(2) appears to
depend upon the choice of the function p, but we may verify that all such
norms are equivalent.
ORDERINGS AND TRACE THEOREMS 85
The dual of H^ 2 (2) is "larger" than that of //1/2(S) in the sense that a
functional 1e (f/oo 2 (l))' can be represented in the form
where we define
To appreciate the role of f/oo 2 (2), we recall the classical trace theorem for
the Sobolev space //'((I):
THEOREM 5.3 (trace theorem I). Let O e c#°'1 and let y be the operator defined
by
THEOREM 5.4. Let He <#0>1. Then a unit vector n, outward and normal to the
boundary F, exists almost everywhere on F, that is, nt e L°°(F), i = 1, • • • , N.
Proof. By using the system of local charts of the boundary F, the boundary
F is represented by the form
Then the unit vector n outward normal to the boundary can be given by
where
where
ORDERINGS AND TRACE THEOREMS 87
We next consider the decomposition of H 1/2 (F) following the plan of L2(F).
Suppose that fie < # 1>I ; that is, suppose that each component n, of the unit
vector outward normal to the boundary F is Lipschitz continuous with uniform
constant on F. Then, applying properties of products of functions in Sobolev
spaces (Grisvard [1]), we have
where
That is, the decomposition v-»{u n ,v r } is an isomorphism from H 1/2 (F) onto
H 1 / 2 (F)xH I r / 2 (F) (i.e., HV /2 (F) is closed in H 1/2 (F) and H 1/2 (r) = H1T/2(r)8
{ve H 1/2 (F)|v= vnn, vn e H 1/2 (F)}). Hence
Therefore, the trace theorem, Theorem 5.3, can be replaced by the following
"decomposed" trace theorem:
THEOREM 5.5 (trace theorem II). Let the domain fie < # 1>1 . Then there exist
uniquely determined linear continuous maps yn of H^ft) into f/ 1/2 (F) and yT
o/H'(fi) into HV /2 (F) such that
where
Furthermore, for a given (h, g) e H 1/2 (F) x HV /2 (F), there exist a ve H'(ft) and
a constant C such that
where Hr 1/2 (F) is the dual space of HT /2 (F). The decomposition q^{^ n ,q T }
is again an isomorphism from H~ 1/2 (F) onto H~1/2(F) x Hr 1/2 (F). We note that
88 CHAPTER 5
//1/2(F) and HV 2 (F) are densely and continuously imbedded in L2(O and
Lr(F). We introduce the inner products,
*
Then, in view of (5.31), there exists a surjective linear continuous map y^: V-»
Hio2(2), where 2 = int (F-F D ). Thus, in a manner similar to Theorem 5.5, we
have
THEOREM 5.6 (trace theorem III). Let the domain fte < # 1>l . Then there exist
surjective linear continuous maps
such that
We now define a partial ordering relation "s:" in the space Hio2(2). Let
v E Hoo2(2) and let Fc be contained in 2. Then the function v is nonnegative
on Fc in the sense ofH^(L}, or simply v^O on Fc in //oo2(2), if there exists
a sequence {vm} of Lipschitz continuous functions such that
We then define on Hl/2(Yc) an ordering > in the usual way, and construct
the closed convex subset of K defined now by
where g is given data in // 1/2 (F C ) and yCn is the normal trace operator from
V onto H 1/2 (r c ). Moreover, by arguments similar to those used in the dis-
cussion of Theorem 5.1, we find that we need not distinguish between "u >0
in H 1/2 (r c )" and " u > 0 a.e. on Fc."
We will refer to the sets K in (5.51) and (5.52) frequently in subsequent
discussion since they characterize contact constraints in Signorini problems
in elasticity.
5.4. Green's formulas. In the preceding sections, we have established several
properties of spaces of admissible displacements u and their traces on segments
of the boundary. In the present section, we consider properties of spaces of
stress tensors and their boundary values and we derive some general Green's
formulas which play a key role in the analysis of contact problems in elasticity.
We first provide a brief summary of some general properties of Green's
formulas for linear operators on Hilbert spaces due to Aubin [1], [2], and
then specialize these results so as to apply to problems in linear elasticity.
We begin by introducing five spaces: 2), V, H, Z, and y (and their duals
2\ V, H\ Z', and #") such that
2> is a linear topological space contained in V and dense in H,
,.,.,. V, H, Z, and y are Hilbert spaces, with V contained in H with
a finer topology,
H is a pivot space, i.e., H is identified with its dual (H = H').
Also, we denote by V0 the closure of 3) in V. Then we have the inclusions
Next we introduce the space &"(A$) and its inner product ( ( • , • ) ) defined by
and
Here ( • , • ) # » and ( • , • )H are the inner products defined on Hilbert spaces #"
and H, respectively. With these conventions and notations in force, we can
establish the following fundamental theorem:
THEOREM 5.8 (abstract Green's formula). Suppose that V0 is the kernel of a
surjective map y e Jz?( V, Z] from V onto a Hilbert space Z. Then there exists a
uniquely determined operator TT e 3?(&"(A*), Z'} such that the abstract Green's
formula
Then,
It remains to be shown that the operator TT does not depend upon the choice
of the right inverse 5 of y. For this purpose, note that if 7re«S?(#"(Ao)> -2>')
satisfies Green's formula (5.59), we have
for any 8. Hence, (5.59) holds for any choice of 8. The fact that TT is uniquely
determined is also verified. D
The operator y in Theorem 5.8 is an abstraction of the trace operators
described earlier.
Before considering applications of Theorem 5.8 to the operators of elasticity,
we record some additional properties of A0, A*, and the space y"(A*). Let
G(A$) denote the graph of Aj,
that is, h = A$T&H. Thus re SP'(A$) and (T, h) = (r, A$T) e G(Aff). Therefore
G(A£) = G(A 0 ) ± . It follows that G(A$) is closed. This means that
(5.62) 9"(A*) is a Hilbert space with the inner product ( ( • , •)).
Green's formulas for stresses. As a concrete application of the theory just
presented, we take
92 CHAPTER 5
We can easily verify that the spaces (5.63)-(5.65) satisfy the hypotheses (5.53)
and (5.54).
We now take for the spaces y and &"(A*) stresses on H defined by
where
The spaces y and & become Hilbert spaces when endowed with inner products
( - , - ) and ( ( - , - ) ) defined by
f»
is a seminorm on the space ST. Clearly, the space & is the set of all symmetric
stress fields and 3~ is the subspace of stresses the divergence of which is in
L2(O). By standard arguments and an application of Theorem 5.8, we have
THEOREM 5.9 (trace-theorem for stress I). Let He C6°'1. Then there exists a
uniquely determined linear continuous mapping IT from ZTinto H~ 1/2 (F) such that
ORDERINGS AND TRACE THEOREMS 93
and such that the following generalized Green's formula holds for every TE 2T
and every veH'Cfl):
using the trace map TT|, instead of H'((l) and TT, that is,
THEOREM 5.11 (trace theorem for stress II). Let Oe <#°'1. Then there exists
a uniquely determined linear continuous mapping TT^ from 3~ into (Hoo 2 (£))'
such that
and
Moreover, if ile < # u , TT^ can be decomposed into operators 7r^n and TT\T such
that
where the elasticities EijM satisfy (5.5). In this case, the work done by the
external forces/eV is assumed to be of the form
and
Suppose that
Then substitution of v = u±w, for arbitrary weHj(ft), into (5.86) leads to the
equality
Since cr l7 (u) v -e L 2 (ft), we can now apply Green's formula (5.73), and reduce
inequality (5.86) to
or equivalently,
FIG. 5.1. Examples of boundary conditions obtained as special cases of the general formula (5.90).
ORDERINGS AND TRACE THEOREMS 97
where
for given functions teL 2 (F), f n eL 2 (F), and tTeL2T(r). Since / is now
differentiate, inequality (5.90) can now be reduced to the equality
i.e.,
(iii) Boundary conditions of the third type (Fig. 5.1(c)). Let us consider the
case in which elastic springs are attached uniformly to the boundary of the
body. This condition can be represented by
where
or more simply,
ORDERINGS AND TRACE THEOREMS 99
Since /„ and JT are differentiable, substitution of (5.100) into (5.90) yields the
general condition
i.e.,
(iv) Nonlinear boundary conditions of the third type; normal direction (Fig.
5.1(d)). Suppose that the elastic body O is supported unilaterally on the
Winkler foundation (i.e. on a blanket of continuously distributed springs) with
100 CHAPTER 5
the normalized gap g, and that the surface of the foundation is lubricated so
that no tangential forces can be developed. For this situation, we set
i.e.,
Under the assumption that 7r n (or(u)) is uniformly bounded for any /C>0,
passing to the limit <£-*+oo yields
i.e.,
as asserted.
(v) Nonlinear boundary conditions of the third type; tangential direction (Fig.
5.1(f)). Suppose that a uniformly distributed system of springs and sliders is
attached to the boundary in such a way as to resist tangential motions, as
indicated in Fig. 5.1(f). In this case, for gn given in // 1/2 (F), we set
where
That is,
X"
102 CHAPTER 5
with |7rr(cr(u))| always ^4, these holding for any e>0. Passing to the limit
as e -» 0, we have
Likewise, the second member of (5.120) can also be written in the form
where v > 0 and p e L2(F). Passing to the limit as e -> 0, we have (see Fig. 5.1g)
where
Once again, the functional / is finite, convex, and differentiable. The choice
(5.125) yields the corresponding boundary condition
If /£ 2 - >00 > then the body is supported by a rigid foundation as well as con-
tinuously distributed springs (Fig. 5.1(i)).
5.6. Korn's inequalities. We have established that the total potential energy
F defined by (5.1) is a well defined, G-differentiable functional on the Sobolev
space H^ft), and that the admissible set for the Signorini problem described
in Chapter 2 can be precisely characterized as a nonempty closed convex
subset of H'(n). Furthermore, by applying a general form of Green's formula,
a variety of boundary conditions can be obtained which include the contact
conditions for Signorini problems. According to the theory of constrained
minimization problems given in Chapter 3, a remaining question that must be
resolved before we can guarantee the existence of a solution to such variational
problems in linear elasticity is whether or not the total potential energy F is
coercive on the admissible set K, that is, we must determine if
where || • ||i is the norm on H1^). The answer to this question is based on
so-called Korn's inequalities, discussed below, which play a fundamental role
in elasticity theory.
We first assume that a domain (1 satisfies the segment property in the sense
of Agmon [1, Def. 2.1]: a domain fl is said to satisfy the segment property if
there exists an open covering {Ur}^=l of fl and corresponding vectors y r such
that
We will also consider the possibility that the domain O may be unbounded.
104 CHAPTER 5
Following Stein [1, p. 57], let us next introduce the Riesz transform RjU of
ueL p (R n ), for l<j<N, Kp<oo,
where CN = r(N 1 )/7r N ', JV1 = (N + l)/2, and Y ( N l ) is the gamma function.
LEMMA 5.4. The Riesz transform Rj defined by (5.130) is such that the
following hold for each j,
(i) Rj: LP(UN)^> LP(UN) is bounded, i.e., a constant C(N, p) exists such that
For additional details and properties of these transforms, refer to Stein [1,
Chaps. 2 and 3].
ORDERINGS AND TRACE THEOREMS 105
Finally, applying Rk again to both sides of this equation and using (5.132) gives
i.e.,
for some positive constant C. The theorem now follows from continuity after
successive applications of the inequality,
Remark 5.5.1. For the case p = 2 and a smooth boundary, Lions [4] showed
that the above theorem can be proved by a simple integration by parts. Indeed,
106 CHAPTER 5
Noting that
and
V tj
Proof. Mikhlin [2, p. 60] and also see Ting [1, p. 300].
THEOREM 5.13 (Ting [1]). Let the domain H be bounded and Lipschitzian in
UN. Then there exists a positive constant, independent of v, such that
for some positive constant C. Thus, to show (5.139), it suffices to show that
defined for each fixed index r. In view of our assumptions on the domain O,
there exists a cone F(x, R, to} with vertex at x 6 Ur fl O, lying in Ur U H. Define
a unit vector v by
so that x + pv e F(x, R,<o) for 0< p < R. Since we can define R and Ur so that
Uij(\+ Rv) — 0, we have
where
Indeed,
where dS is the Euclidean measure on the surface of the set F(x, R, <o)-
F(x, e, a)). Noting that e 0 (y)i/f(v) has its support within the cone F(x, R, v),
w e h a v e
Let
and
Then after defining Cmj, Cmi, Kmj and Kmi similarly, we have
Applying Lemmas 5.3 and 5.4, and Minkowski's inequality, we can conclude
that
Summing over indices i and j, and using inequality (5.137), we obtain (5.140)
for a fixed r. Thus now (5.139) has been proved.
We remark that by contradiction and an application of the above theorem,
we can establish the following corollary. We postpone details of the proof of
this corollary to the next Chapter (see Lemma 6.2).
COROLLARY 5.13.1. Under the same conditions in Theorem 5.13, there exists
a positve constant C > 0 such that for all ve W 1>p (fl), Kp<oo,
whenever
Again, the elasticities Eijk, satisfy (5.5). Under the assumptions that
Using the above notation, Signorini's problem (2.38) can be given in the
variational form:
Find u e K :
or by
Find u 6 K:
We will now show that the energy functional F satisfies the conditions of
Theorem 3.5 and that, therefore, (6.9) or (6.10) are uniquely solvable.
Convexity of F. As shown in § 3.2,
(i)=»(ii): Let i *j * k, 1 < ij, fc < 3, be fixed integers. Then, if e y (v) = 0 Vi,./,
we must have
(no sum)
in the sense of distributions. This is possible only when (see Schwartz [1])
for constants a,, ch dif and et. Similar relations hold for Vj and vk. Then the
condition ey(v) = (v^ + vjti)/2 = 0 yields
i.e.,
Similarly,
Thus we have
These imply
i.e.,
and
We can therefore regard the relations in Lemma 6.1 as being valid for IRN,
1 < N < 3 (with appropriate interpretation of b x x).
A motion x+v of the body, with v e V, is (affine) rigid if and only if e,y(v) = 0.
We shall denote by R2 the set of all rigid body motions of the material body
under consideration. Formally, we define
The case that mes (F^) > 0. We start from a modification of Korn's inequality
(5.139).
LEMMA 6.2. Let fl £ <#0>1. Then there exists a positive constant c > 0 such that
for every v e V.
Proof. It is noted that the inequality (6.14) follows from Korn's inequality
(5.139) if the inequality
Suppose that this is not true. Then there exists a sequence {vfc} e V such that
/•
and
where © denotes the direct sum of two spaces, and R2 is the intersection of
H^ft) with the orthogonal complement of R2 for the L2(O) inner product:
Let
SIGNORINI'S PROBLEM REVISITED 117
must hold. For v-0, the inequality (6.20) is obvious. Thus, we can conclude
that
If F ( v ) > O V v e K n # 2 , v ^ O , then there exists a constant c>0
such that F(v)>c||v||, V v e K n # 2 .
It is now clear from this result that the functional F is coercive on K if the
data (f, t) satisfy the compatibility condition (6.19).
With the major properties of the functional F : K c V ^ I R of (6.8) now
established, we call upon Theorems 3.4 and 3.7(i) to immediately obtain the
following fundamental existence theorem.
THEOREM 6.1. LetF:K^U be the potential energy functional defined in (6.8),
where K is the nonempty closed convex subset of the space V of (6.2). Let (5.4)
hold and H e (#0<1 and suppose mes (F D ) > 0. Then there exists a unique displace-
ment field u e K which minimizes F on K; i.e.,
that is,
We refer to (6.22) as the primal variational principle for the Signorini problem.
Observe that since the stress tensor or corresponding to the displacement field
u is, formally, defined by
where
is prescribed on the contact surface. If, somehow, the tangential stress or* is
prescribed along the possible contact surface Fc in which the true contact
surface is contained, the variational statement (6.9) of the Signorini problem
must be changed to
where now,
and the bilinear form a( • , •) and the linear form/( •) are defined in (6.4) and
(6.6), respectively. The nonempty closed convex subset K is defined as in (6.1).
If the tangential stress a* is smooth enough, e.g., if
f o r v e K n # 2 and v^O.
SIGNORINI'S PROBLEM REVISITED 119
We also found that any solution u of (6.27) is also a solution of the variational
inequality (2.38) or, equivalently, (6.23).
The question which naturally arises at this point is what is the relationship
between the solution of the variational inequality and the solution to (6.27)?
In essence, how must we interpret the weak or variational solution of (6.23)
and why and how is it related to (6.27)?
The first steps toward answering these questions are not difficult and follow
immediately from properties of F, K, and V established earlier (see § 5.3 and
5.4). Consider (6.23) (or (6.27)) and note the following properties of this
formulation:
1) M, = 0 on r D c r . This boundary condition arises automatically in the
definition of V. Since Vc H ! (ft), we have y D (v) = 0, where yD:Hl(Cl) +
H 1 / 2 (r D ) is the trace operator (recall after Theorem 5.3). Hence v = 0 is
interpreted as yo(v) = Q in H 1/2 (r D ).
2) Let < f o e @ ( f t ) c V ; i = l,2, • • • , N. Then taking v = u ±<{> in (6.23) yields
or
This means that we can call upon Theorem 5.9 to obtain a general form of
the traction boundary condition on FF. We summarize these observations for
future reference:
THEOREM 6.2. The solution u of (6.23), or equivalently the minimizer u of F
on K in (6.22), can be characterized by
and
provided
That is, a sufficiently smooth solution u e K of (6.23) may coincide with the
classical pointwise solution of problem (6.27).
6.4. A finite element approximation of Signorini's problem. We shall now
describe a typical finite element method for approximating solutions of the
variational inequality (6.23). We begin by representing O by a domain f l h
consisting of simplex elements (triangles in IR2, tetrahedra in IR3) over which
each component of displacement is approximated by linear polynomials. Upon
assembling these elements, we generate a system of piecewise linear global
basis functions {<£„} such that if v/, is an approximate displacement field defined
over Cth, then 2 we have
2
The summation convention is extended to the case
Here, the super and subscripts do not denote the contravariant and covariant components of
vectors/tensors, respectively.
122 CHAPTER 6
wherein
2F, 2D, and Sc = the sets of all nodal points in FF, FD, and Fc, respectively.
v" = vfn" (no sum on a), where n" = {«", «"> w"} is the unit outward normal
on F at the ath nodal point.
or, equivalently,
Let us suppose that ftfc <= O and let \h denote an extension to the domain
H of the function v,, defined on Clh constructed so that the value of vh in ft/A/,
is defined by constant extension in the directions normal to the boundary Yh
of Clh. To make clear this extension, consider the finite element on a part of
the boundary of f l h shown in Fig. 6.1. Within an element, a system of local
coordinates (£ 17) is defined so that the edge which coincides with the boundary
is the interval (0,1) of the £-axis. Suppose that the boundary of the domain
(I can be represented parametrically by
Let K,, be the set of such all extensions of functions in Kh. Then, for every
u h , v,, e Kh, the following identities clearly hold:
Moreover, we have the following result which will play an important role later.
LEMMA 6.3. Let </> 7 denote the linear interpolant of a function 0 defined on
the boundary Fc (i.e., </> 7 (x a ) = 0(x a ) for a node x" on Fc, <$>l being linear
between nodes}. Then, for every \h e
in the local (£17) coordinate system shown in Fig. 6.1. Multiplying the first
inequality by (1 -£), the second by £ and adding the results, we obtain
((l-f)(v f c (0,0)-n(0)) + f(v l l (l f O)-n(l)))-((l-f)g(0) + &(l))sO f
i.e.,
Then
where
we obtain
Substituting this inequality into (6.51), applying Young's inequality, and using
the inequality
Proof. Properties (6.53) imply that un e H3/2(F) and «r n (u) e H1/2(r). Apply-
ing Lemma 6.3 to each component of the displacement vector, and using the
extended interpolation properties of dual spaces established by Babuska and
Aziz [1, Chap. 4], we find that
Similarly,
and
for all \h, vtheKh, where \h and wh are extensions of \h and wh into Kh,
respectively.
We now have essentially all of the ingredients needed to prove convergence
of our method and to construct an error estimate. Let uh be the solution of
the auxiliary problem (6.47) and denote by uh the extension to all of ft of the
solution u,, to (6.41). Then
SIGNORINI'S PROBLEM REVISITED 127
The coerciveness of the bilinear form a ( - , - ) and (6.55) lead to the final
estimate,
Suppose that the part Yc of the boundary Y is smooth enough, and that there
exists an element u1 such that
where \\ - \\ is the Euclidean norm of R" and ( - , - ) is the inner product on R" x R".
Furthermore, the converse is also true, that is, if the projection o f f e R" into K
is denoted by \ = Pkf, then
on the closed convex set K. The consequence then follows from Theorem
3.7. D
A solution method. When the Signorini problem is described by the primal
variational principle (6.22), the admissible set K is restricted by the kinematic
boundary condition vn-g^Q on Fc. For the discrete model, this condition
assumes the form,
i.e., v" < ga at each node on the possible contact surface Fc as shown in
(6.39). Whatever strategy we employ for solving the discrete system (6.42), it
must be such that the above inequality is simultaneously satisfied with pre-
assigned tolerances. Since this inequality constraint involves only the nodes on
Fc, the iterative procedure need be applied only to those nodes in order to
SIGNORINI'S PROBLEM REVISITED 129
satisfy the constraint due to contact. The first step of our solution method,
then, is to "sub-structure" the variational inequality (6.42) into two parts:
where {u}'"} and {u^a} are the vectors of degrees of freedom of the finite
element model excluding nodes on Fc. The stiffness matrix E'^p and the load
vector f'a are also decomposed accordingly. Since there are no constraints on
the displacement u}'a, the variational inequality (6.61) yields
Indeed, taking
we can modify the variational inequality (6.61) by one consisting of only the
degrees of freedom on F c :
Here
for every v]'a satisfying the constraint. Here we do not take summation in i
and a. Applying Lemma 6.8, we have
130 CHAPTER 6
and set
where n? is the ith component of the normal vector n at the a node. Then
define the projection of M? into KH, i.e., x" = Pku", and x° satisfies the
inequality
for every y"-g^Q. Thus (6.65) makes sense. Furthermore, (6.65) suggests
the iterative method
where
We shall discuss problem (6.71) in this section under the assumption that
r c c:I.
Following the general theory for penalty methods given in § 3.5, we define
where Q = Hl/2(Yc)J is the Reisz map from H 1/2 (r c ) onto (H 1/2 (r c ))', and
[ •, • ] denotes duality pairing on Q' x Q. Then the penalty formulation of
problem (6.71) is, according to (3.65),
As noted in Chapter 5, (5.48), the map y^n: V-» // 1/2 (F C ) is surjective linear,
and continuous. Thus the following result follows easily from Theorems 3.16,
3.17 and 3.18.
THEOREM 6.6. Let He ^ I J and let the conditions in Theorem 6.1 hold. Then:
(i) The sequence {ue} of solutions to the penalized problem (6.75) converges
to the solution u e K of the constrained problem (6.71) as e-»0.
(ii) The sequence {(u c , <re)}, defined by
(iii) Moreover, there exist positive constants C, and C2 such that, for
every e > 0,
132 CHAPTER 6
Suppose that the domain (1 is exactly covered by finite elements {fle}, i.e.,
Let &k(&e) be the space of polynomials defined on fte, the order of the
complete part of which is less than or equal to k, and let
where xf and wf are the coordinates of quadrature points and weights for
numerical integration, E' is the number of segments of Fc, and G is the
number of integration points within a segment. For example, if Fc is a
one-dimensional manifold, and if Simpson's rule is applied within a segment,
we have G = 3 with
he being the length of the eth segment and {xf} given in the local coordinate
system in the master line element.
The properties (4.39) of the quadrature operator "/" of (6.80), which were
assumed in the study of convergence of the penalty method (see § 4.5), will
be proved in the underlying Lemma 6.9 to follow.
Under the assumption that the weights {wf} in (6.80) are nonnegative, let
the positive cone CQH be defined by
where
and
and
where for simplicity we omit an element label "e" on the coefficients. Then,
and
we have
SIGNORINI'S PROBLEM REVISITED 135
Thus
where 0" denotes the second derivative of </> with respect to the global
coordinate 5. Similarly, we have
(iii) There exists a constant Cl > 0 such that, for all rh e Qh,
136 CHAPTER 6
(iv) For every ve V, there exist an element v/, e \h and positive constants C2
and C3 for h ^ 1 such that
Proof, (i) For a given rheQh, rh^ 0, take any \h e V,, such that
Applying the trace theorem and the inverse property of finite element approxi-
mation spaces, (see Ciarlet [l,p. 141]) we have
and
Then (6.92) follows from the trace theorem and the inverse property.
(iii) Since the inverse properties are assumed to hold on y(Vh), we have
(see Ciarlet [2, p. 141])
Hence,
which is (6.93).
SIGNORINI'S PROBLEM REVISITED 137
Moreover, the following estimates hold for proper positive constants C{ and C2:
Thus estimates (6.97)2 and (6.97)4 hold for the set Nh as well as Qh.
138 CHAPTER 6
(ii) there exists qz H3/2(TC) such that its interpolant q1 e Qh coincides with
o~h in (6.97) and ||#||3/2(rc is uniformly bounded in h, i.e.,
Then the following estimates hold for positive constant C,, i = 1, • • -,5, indepen-
dent ofh and e:
and
Proof. 1) We shall apply the estimate (4.53) in Theorem 4.11. Noting that
ah •=• (3hl/2 and ah = f3hl/2 (see Theorem 4.11 and Lemma 6.10), we have
from (6.96)2. Combining (6.96), (6.101) and (6.103), we finally arrive at the
estimate (6.102).
In view of the estimate (6.102), we will obtain the optimal O(/i 2 ) rate of
convergence if we choose the penalty parameter e so that
holds for positive constants C, and C2. Proofs for this can be found in Kikuchi
and Oden [2].
A solution method. The penalty approximation (6.82) of the Signorini prob-
lem is solved by the following successive iterative method. Let u'eh be the fth
approximation of the solution uEh of (6.82), and let
where E1^ is the stiffness matrix of the elastic body and fa is the equivalent
nodal forces computed by the applied body force and the traction. Similarly,
the penalty term can be discretized by
(6.108) /[(«L-g) + ,^ n ] = (f) P^(«f) ( ' ) <- (0 g>r (t: no summation),
where
and
Here E' is the number of elements on Fc, G the number of integration points
in an element, (w/, xf} the set of weights and coordinates for the quadrature
rule /[•,•] given in § 6.5. This yields the system of linear equations for each
f, f = l,2, • • - ,
We will compare our numerical results with the Hertz solution (see e.g.
Goldsmith [1, Chap. IV]) which yields a contact pressure of
where F is the load per unit length, b is the half-width of contact surface
defined by
FIG. 6.2(a). A finite element model of a Hertz problem. From N. Kikuchi and Y. J. Song [2],
Quarterly of Applied Mathematics. Copyright 1981 Brown University.
FIG. 6.2(b). Deformed configuration by Q2-elements and Simpson's rule. From N. Kikuchi and
Y. J. Song [2], Quarterly of Applied Mathematics. Copyright 1981 Brown University.
142 CHAPTER 6
FIG. 6.2(c). Pressure distributions with the Hertz solution. From N. Kikuchi and Y. J. Song [2],
Quarterly of Applied Mathematics. Copyright 1981 Brown University.
coordinate axes be set as in Fig. 6.3(a). Then the prescribed gap function is
taken to be
where R is the radius of the cylinder. Using the symmetry of the problem,
only half of the foundation is modeled by sixty-four 9-node biquadratic (<?2-)
finite elements as shown in Fig. 6.3(b). No body forces and tractions are
assumed to be applied. One objective of this example is to check the conver-
gence of the penalty method described earlier. Since the exact solutions u and
cr are not available, we consider relative errors EE and Eh of the strain energy
of the body defined by
FIG. 6.3(b). A rigid punch problem modeled by Q2-elements and Simpson's rule. From N. Kikuchi
and Y. J. Song [2], Quarterly of Applied Mathematics. Copyright 1981 Brown University.
144 CHAPTER 6
FIG. 6.3(c). Convergence of the penalty method (e->0). From N. KJkuchi and Y. J. Song [2],
Quarterly of Applied Mathematics. Copyright 1981 Brown University.
where "A" indicates that a fixed value of e or h is used, and F(v) = \a(v, v).
If (6.94) holds, the relative errors EE and Eh satisfy the asymptotic bounds:
The reference mesh and the penalty parameter sizes are h =| and e0=\Q 4,
where e - e0E. It is clear that our numerical results shown in Figs. 6.3(c) and
6.3(d) indicate excellent agreement between theoretical estimates of the rates
of convergence with computed rates. Moreover, these rates are experienced
for relatively coarse meshes even though the theoretical results generally
guarantee these asymptotically as h tends to zero. Again, convergence of the
iterative method is obtained within few iterations for each problem.
Example 6.3 (rigid boh in a thick plate). Consider a thick plate partially
restrained by a rigid cylinder (possibly representing a steel bolt) as shown in
Fig. 6.4(a). We let R be the radius of the hole in the thick plate and R - e be
the radius of the rigid cylinder, where e is a small positive number. At an
edge of the plate, a uniform tensile force ty is applied. Again, we suppose that
the plate is homogeneous, isotropic, and linearly elastic and take E = 1000,
v = 0.3. Let the thickness of the plate be unity and we assume a state of plane
stress prevails. The contact surface of the bodies is assumed ttf be lubricated
so that there are no frictional forces.
SIGNORINI'S PROBLEM REVISITED 145
FIG. 6.3(d). Convergence of the finite element method (Q2-elements /i-»0). From N. Kikuchi
and Y. J. Song [2], Quarterly of Applied Mathematics. Copyright 1981 Brown University.
FIG. 6.4(a). Rigid bolt in a thick plate. tv = 25/unit length; E = 1000; v = 0.3; R = 2.0; R - e = 1.9.
Symmetry of the problem enables us to consider only the upper half region
of the plate. Ten 9-node biquadratic quadrilateral elements are again used in
the discrete model, as shown in Fig. 6.4(b). The computed deformed configur-
ation and the distribution of the contact pressure are given in Fig. 6.4(c). The
separation point is located at 66°, and the half length of contact surface becomes
2.19 units.
146 CHAPTER 6
Fig6.4(b)m cvm,nvnnvkfmngffkng
Our results indicate that the contact pressure in thexbolt inclusion problem
resembles that of the Hertz contact pressure for a rigid cylinder indented into
a half-space for these particular geometries and material properties.
Example 6.4 (beam contact problem). Next the contact of an elastic can-
tilevered beam over a foundation is considered, the beam being modeled as
a thin body in a state of plane stress. The loading and constraint situation are
illustrated in Fig. 6.5(a). We compare some computed results with those
furnished by elementary beam theory.
Let the rigidity El of the beam be constant, and let a uniform force / be
applied to the beam. If the distance of the beam from a flat rigid foundation
is given by d, then the location of the contact interface is computed from beam
theory as
SIGNORINI'S PROBLEM REVISITED 147
6.7. Rigid punch problems. A special and important class of contact prob-
lems involves the indentation of a deformable body by a rigid "punch"; i.e.,
a rigid body of specified shape. Such problems arise in numerous practical
applications; for example, metal and plastic forming, etc. Mathematically,
rigid punch problems have certain features which distinguish them from the
standard Signorini problems discussed in the previous chapter. The contact
conditions are, in a sense, more complicated and the solution of two-
dimensional punch problems is characterized by a pair (u, a) or a triple
(u, a, 6), where u is a displacement field and a and 6 are, respectively, the
displacement of a specified point on the punch and the rotation of the punch
about the origin.
Contact conditions. For simplicity, we confine our attention to plane prob-
lems. We begin by considering a deformable body fl c |R2, such as that shown
FIG 6.5(b). Deformed configuration of the cantilever.
SIGNORINI'S PROBLEM REVISITED 149
whereas the material surface of the body which may include the contact surfac
where, for the moment, <j> and & are taken to be smooth functions. We will
choose the origin of our coordinates so that
We now assume that external forces and moments are applied to the punch
so that it is pushed into the body, as shown in the figure. We denote by a the
depth of indentation at the origin and by 6 the angle of rotation of the punch
about the origin. Then a point on the surface of the punch located at (yi, &(yi))
before indentation assumes a position ( Y l , Y2) after indentation where
Let (xi, x2) be an arbitrary particle of the body. The position of this particle
after indentation of the body by the punch is given by
Given a point (j> t , &(yi)) on the surface of the punch, let (xj, $(*i)) denote
the particle, assumed unique on the surface of the body which is displaced by
the indentation in such a way that the >>j coordinate of its current position
equals Yl. Then
We shall always assume that the surface of the punches located above or on
the surface of the body, as in Fig. 6.6, so that the y2 coordinate of the particle
(x,, </>(*i)) must exceed Y2, i.e.,
The first member of (6.126) defines a specific particle (x1} <f>(xi)) for a given
point (yit iff(yi}) on the surface of the punch. The second member of (6.126)
describes a constraint on the motion of this particle.
SIGNORINI'S PROBLEM REVISITED 151
where w,(>'i) = Ui(y\, (f>(y\)), i = 1, 2. Noting that the components (nlt n2) of
a unit outward normal to the material surface Yc are given by
where
Finally, since x, and yl differ only by terms of order u , , \6\, a and higher,
we may write
(6.131) M n (x 1 ,x 2 )<g(x 1 ,x 2 )-Hi0»Mxi) + «2(M + a), (*i,x 2 )er c .
This is the linearized kinematical contact condition for the class of rigid punch
problems we will consider.
We assume, as before, that the contact surface is lubricated so that no
tangential frictional forces can be developed on contact. Then, if T is the
Cauchy stress, rn — Ty-n.-n,- its normal component on the contact surface, and
TT. = Ty/i; - rnnt the tangential components of stress on the boundary, we have
at each particle (x,, </>(*i)) s Fc. Here we have continued to confine ourselves
to infinitesimal deformations so that (6.131) holds and T is considered a
function of x = (xj, x2).
Let (v, j8, 0) denote a triple consisting of a displacement field v, an indentation
j8, and a rotation 6 which are arbitrary except that
152 CHAPTER 6
Choosing vn so that the first term vanishes and vTi = uTi ± ewT., e > 0 and w
arbitrary, gives
On the other hand, if we set vTl = WT, and t;n = g + n2(xiO + a)-n^O + wn,
wn =s 0, we have
Let the possible contact surface Fc be the interval (-a, a) of the x r axis,
and let the shape of the rigid punch be given by
Here the rigid punch initially touches the foundation at the origin, i.e., <£(0) = 0.
Let P denote the applied force (P<0) and T the total applied moment about
the origin. If the depth of indentation is given by the absolute value of a, then
the rigid punch problem is described by the boundary value problem
for every (v, /3, 5) such that t>2 ^ (3 + Sxl + g. Thus, a variational formulation
associated with the rigid punch problem (6.137) is defined as
where, as usual,
where
Then there exists a unique solution (u, a, 0)eK to the problem (6.144), or,
equivalently to the variational inequality (6.138).
Proof. It suffices to show that the functional F is coercive on K, i.e.,
for every/3 e IR since (6.143) is assumed. For (3-> -oo, we must have y|( ^2) ~* ~°°
a.e. on Fc or \S\ -> +00. Thus F(v, /3, 5) -> -oo. For the case /3 -»• +00,
Therefore, we have
We now describe a solution method for the rigid punch problem (6.137) for
a given force P and moment T based on Lagrange multiplier methods. By
introducing the Lagrange multiplier q for the constraint y^tfzJ^a +ftKi+ g,
we arrive at the Lagrangian
where ( • , -)r c denotes duality pairing on H 1/2 (F C ) such that for <£e L 2 (F C )
and«Ae// 1 / 2 (F c )
SIGNORINI'S PROBLEM REVISITED 155
where
The stationary condition for the Lagrangian yields the system of equations
and an inequality:
that is,
(iii) Using p (l) on Fc, compute the depth of indentation 5 ( l ) and the rotation
(0
0 by
for adequately chosen positive "constants" pp, pa, and pg. We repeat the above
iteration procedure until the quantity
156 CHAPTER 6
becomes very small, say 10~3~10~5. For further details on methods of this
type, see Glowinski, Lions, and Tremolieres [1].
Example 6.5 (rigidpunch with rotation). Consider an almost incompressible
linearly elastic foundation indented by a flat rigid punch subjected to an
applied moment and force. We assume that the foundation is homogeneous
and isotropic with E = 1000 and v = 0.499. The problem is one of plane strain.
The elasticity tensor EijM is then given by
for 0< i, j, k, /< 2. Notice that the first Lame constant A becomes a very large
number for v = 0.499. Physical dimensions and other data of the problem are
given in Fig. 6.7(a). We consider four cases each involving different values of
the applied moments T but with a constant applied force P.
A finite element mesh consisting of ten 9-node isoparametric elements is
used, as shown in Fig. 6.7(b). Special considerations are needed when we
integrate numerically the term
FIG. 6.7(b). Finite element model for Example 6.1. From N. Kikuchi and Y. J. Song [1],
International Journal of Engineering Science. Copyright 1980 Pergamon Press Ltd.
FIG. 6.7(c). Numerical results (1) for Example 6.1. From N. Kikuchi and Y. J. Song [1],
International Journal of Engineering Science. Copyright 1980 Pergamon Press Ltd.
FIG. 6.7(d). Numerical results (2) for Example 6.1. From N. Kikuchi and Y. J. Song [1],
International Journal of Engineering Science. Copyright 1980 Pergamon Press Ltd.
FC in the reference configuration, as shown in Fig. 6.8, and that the contact
surfaces are defined parametrically by
where, for the moment, $ and i/> are assumed to be smooth functions. No
summation convention is assumed on the indices a and b which represent
opposite surfaces of the contact region.
Let xa = (x°, (f>(x°)) be the coordinate labels of a particle A on the contact
surface Yac and x b = (xf, i^(xf)) those of a unique particle B on Ybc which has
the property that the yl -position of both particles is the same in the current
160 CHAPTER 6
that is
where
Noting that the unit vector inward normal to the boundary Ybc is given by
under the assumption that 0(x?) > «//(x°), Vx°. Since the two surfaces PC and
TC can be identified with their projection Fc on the y coordinate line, we can
also write (6.156) in the form
so that the contact condition is essentially of the same form as the kinematic
contact condition for the Signorini problem, except that now the relative
displacement fields are used. Thus, if T denotes the Cauchy stress tensor in
the body O, the contact condition can be represented by
a(u, v) the virtual work by the virtual displacement v of the body at the
equilibrium configuration given by u, and /(v) is the work done by applied
body and traction forces. The constraint set K is now defined by
where
All the mathematical analyses in § 6.2 and 6.3 carry over to the above case
(6.161) or (6.162) which now represent contact of two surfaces, and we need
not provide further details.
In finite element methods based on penalty treatments of the contact condi-
tions for two-body contact, two different approaches suggest themselves.
1. Pre-discretization penalty. In this approach a penalty term is added to the
variational formulation prior to the finite element discretization. For example,
we can add to the energy functional in (6.162), the penalty
SIGNORINI'S PROBLEM REVISITED 163
FIG. 6.10. A discretization of the domain along the contact boundaries TC and TC using a
pre-discretization penalty method.
FIG. 6.11. A discretization of the domain along the contact boundaries Tac and Ybc using the
post-discretization penalty method.
SIGNORINI'S PROBLEM REVISITED 165
then u* = uan - ubn can be computed by finding an element which contains the
projected point of the fcth node onto the boundary Ybc along a line parallel
to the }>2-axis passing through the fcth node on FC- Once the corresponding
element segment is found, ubn = n-ub is computed using the value of the
displacement at the nodes in this element segment. For example, the third
node on FC in Fig. 6.11 is projected vertically into the third element on r£>
Suppose that the fcth node on FC corresponds to the eth element on FC, and
suppose that the eth element consists of two nodes (x*, «A(xf)) and (xf, «A(x*))
on FC- Then the projected point of the /cth node has the coordinates (x*, x£),
where
under the assumption x* < x*. The kinematic contact condition at the kih node
becomes
where
Since both ubn(xl, <A(*0) and ubn(x\, $(x\}} are normal displacements at nodes
on FC, (6.171) represents a finite element approximation of the contact condi-
tion which is well defined in terms of displacements of nodes on the respective
contact surfaces of O.
It is noted, however, that the approximation (6.171) of (6.158) is based on
the premise that a preferred boundary, FC is projected onto the other contact
line. Thus there is a possibility that the kinematic contact condition (6.158) is
not satisfied along certain portions of the boundary, as illustrated in Fig. 6.12.
A contact condition similar to (6.171) is not generally applied to nodes on
FC, to avoid a so-called "locking" phenomenon: Consider the situation
where
Here P' is the number of nodes on FJ. In this case, the values identified with
become the equivalent nodal contact force at the fcth node on Tac.
We shall briefly outline an algorithm for determining the corresponding
element which contains the projected point of a node on FC for plane problems:
Step 1. Store element connectivities of line elements on the boundary FC
so that the coordinates of two end nodes of each line element can be obtained
from the data of a finite element model of the domain O.
Step 2. Scan elements on FC and locate the elements containing the projection
of each node in 2c- For the node whose yi coordinate is x*, we carry out the
routine:
a) e = 0
b) e = e + l
c) Using element connectivity of the eth element on FC, find yl coordinates
of two end points, say x\ and x\.
SIGNORINPS PROBLEM REVISITED 167
where v^nt = Vhn(x^9 (xf)), gfc = g(x*), etc. If the /cth node is a contact node,
then the additional stiffness matrix contribution is given by
where he is the length of the edge, and (p\, p2) are the values of the pressure
at two edge nodes. Applying this idea to the contact force at each node
computed by (6.175), we can compute the value of the contact pressure at
each node by solving the system of linear equations obtained by assembling
(6.179) for all edges of elements of FC-
Example 6.6 (a two-body contact problem). We solve the two-body contact
problem described in Fig. 6.14(a) applying the first approach in the above.
168 CHAPTER 6
Suppose that both bodies are characterized by the same Young's modulus and
Poisson's ratio, E = 1000 and *> = 0.499. The problem is again one of plane
strain and both bodies are almost incompressible. As in Example 6.5, we use
the reduced integrating method to avoid locking for "large" h.
Let us consider a finite element model of the two-body contact problem
using four 9-node biquadratic elements for the hollow cylinder and six such
elements for the foundation as shown in Fig. 6.14(b). The computed deformed
geometries are shown in Fig. 6.14(c). The hollow cylinder suffers quite severe
deformations while the surface of the foundation is indented only 4 percent
of the vertical motion of the cylinder.
As indicated in Fig. 6.14(c), we compute a significant displacement in the
horizontal direction on the contact surface. This suggests that the approxima-
tion of the unilateral contact condition (6.158) may be inadequate since the
assumption x° « x\ may not be valid. One way to compensate for such errors
is to relocate the nodes on FC according to
FIG 6.14(b). Finite element model for Example 6. FIG 6.14(b). Finite element model for Example 6.
170 CHAPTER 6
where x" is the new location, x? is the original location, and («?,«?) is the
displacement of the nodes computed by the assumption x? = xf. If we recalcu-
late the deformation after shifting the nodes on FC, we generally reduce
substantially large discrepancies in the contact conditions. However, it is noted
that rather large differences M ? - M ? in the displacement in the horizontal
direction would not affect the size of the contact area or the contact pressure.
For the example in Fig. 6.14, corresponding to a plane strain problem, we
next investigate three-dimensional effects on the contact area and pressure.
Exploring the symmetry of the problem, only a quarter portion of the structure
is discretized by 8-node trilinear brick elements as shown in Fig. 6.14(d). The
planes x, z and y, z are symmetric surfaces on which the sliding condition is
applied. The bottom surface is also assumed to be sliding without friction.
The side view of the model is also given in Fig. 6.14(e). The side view of the
deformed configuration is shown in Fig. 6.14(f) which is quite similar to Fig.
6.14(e) after prescribing the displacement on the top surface as in the two-
dimensional example. Again, most of the deformation is realized in the elastic
ring. However, if we magnify the displacement of the elastic foundation,
three-dimensional effects can be easily observed, see Fig. 6.14(g). The center
surface which is on the x, z plane experiences the largest deformation. The
profile of the computed contact pressure is given in Fig. 6.14(h).
Chapter 7
the present chapter generalizes and extends the results obtained by these
authors.
where div ( • ) denotes the divergence operator. The deviatoric strain represents
that part of the deformation for which no change in volume occurs; i.e.,
where n is the second Lame coefficient (the shear modulus) and K is the bulk
modulus of the material. Clearly, for an isotropic incompressible material, we
will have
and ft c RN. Using notation similar to that in Chapter 6, we pose the following
variational principle for a contact problem of Signorini type for a material
obeying (7.3) and (7.4): Find a displacement field u such that
In this case,
SIGNORINI'S PROBLEM FOR INCOMPRESSIBLE MATERIALS 175
with
with M = \\n\\ L°°([i). Finally, when (7.7) holds, the functional / defined in (7.6)
is bounded on V. Thus, all of the conditions of Theorem 3.4 hold, and we
immediately have the following result:
THEOREM 7.1. Let He ^l'1 and let mes F D >0. Suppose that (7.4) and (7.7)
hold. Then there exists a unique solution ue K to the variational inequality (7.5).
Equivalently, u is also the unique solution to the constrained minimization problem
for ve V, where y^n is the operator defined in (5.48) and we shall assume that
We easily verify that problem (7.14) is equivalent to the following saddle point
problem:
where
Our proof requires five steps; four to prove (7.20) and (7.21) and a final simple
manipulation to complete the proof.
178 CHAPTER 7
and
This choice o f / is possible because d<j>Jdn e Hl/2(T) and mesF F >0. Then
a regular solution $2 e H2(Cl) exists to the Neumann problem
with
3) Let ^ satisfy
and
where d/Br means the tangential derivative along F. Since $t and </>2 are in
H2(O), d^/dr and <9«A/an are in H1/2(r). We recall the fact that for a given
fe Hl/2(T) there exists a (biharmonic) function ^e //2(H) such that
SIGNORINI'S PROBLEM FOR INCOMPRESSIBLE MATERIALS 179
and
Then it is assured that there exists a function «// satisfying (7.22) and
and
4) We next set
If we put
Recall that Q = L 2 (H) = Q'. We shall also denote by Wthe space (/T1/2(rc))'.
Since the Babuska-Brezzi condition (7.19) holds, the developments in § 3.4
lead to the following conclusions:
THEOREM 7.4. Suppose that the conditions of Theorems 7.1 and 7.2 hold. Then:
(i) There exists a unique solution («e, cr e )e Vx N to (7.26) for every fixed
positive number e0.
(ii) The sequence {(ue, pe, cre)} e V x Q x N converges strongly in V x Q x W
to the solution (u,p,cr)eVxQxN of the saddle point problem (7.14), or
equivalently (7.16), as the penalty parameter e0 tends to zero.
The penalty method can be applied to both constraints divu = 0 and
«„ - g < 0 by using as a penalized functional,
SIGNORINI'S PROBLEM FOR INCOMPRESSIBLE MATERIALS 181
for two penalty parameters e = e 0 //A and 5 = 50/V> eo>0, 5 0 >0. Then the
constrained minimization problem (7.10) is approximated by the unconstrained
minimization problem,
The Babuska-Brezzi condition described earlier holds under the stated condi-
tions. Thus, we can conclude that the solution U F of the penalty approximation
converges strongly to the exact solution u e K as e0-» 0 and S0-» 0. Furthermore,
the functions
for all qh e Qh and all \h e Vh, wherein 2 is the interior of F - FD and vhn = vh • n.
In (7.34) and throughout this section, it is assumed that Cl coincides with its
finite element approximation £lh for all h.
Since Qh is constructed using conforming finite elements, the traces (or
restrictions) of functions in Qh on the boundary Fh = F are in // 1/2 (F C ). In
the present study, we shall demand that the approximation Nh of the set N
be such that
Most of the key properties of the "continuous problem" (7.14) are preserved
on subspaces Vh and Qh with one major exception: the discrete spaces must
be such that a form of the Babuska-Brezzi condition (7.19) holds. For approxi-
mate methods of the type (7.36), this condition assume a form completely
analogous to (7.19):
There exist positive numbers ah and (3h such that
where
184 CHAPTER 7
Thus, replacing v/, by v,, -uh and rearranging terms, we have, for any \h in V/,,
where we have used the fact that (-p,d\vuh) = (p-qh,div (u-uh)) for any
qh€ Qh. Likewise, (7.14)3 and (7.36)3 can be used to obtain the inequality
In (7.46) and (7.47), of course, v h , qh, and rh are arbitrary elements of V/,,
Qh, and Nht respectively.
2) Using (7.9), (7.45), (7.46), (7.47), and the Schwarz inequality, we have
for T € N,
for a 0 , /30, Jo, 5, A e R. Then the following a priori error estimates for mixed
finite element approximations can be obtained immediately from Theorem 7.6.
THEOREM 7.7. Let the conditions of Theorem 7.6 hold and suppose that
186 CHAPTER 7
In addition, let (7.51)-(7.55) hold. Then there exist positive constants C,,
/ = 1, • • • , 10, independent of the mesh size h, such that
for every r e N.
Arguments similar to those used in the proof of Theorem 4.7 yield an estimate
of llp-Pfc||o+lk-Oj,||*/2.r c -
THEOREM 7.8. Under the same conditions in Theorems 7.3 and 7.4, we have
for proper positive constants Cn, C12, and C13 independent ofh.
Proof. Applying the surjectivity of the constraint operator B defined by
such that the Babuska-Brezzi condition (7.19) holds, it follows from (7.44) that
critical factor in the accuracy and stability of such mixed finite element
methods. Indeed, these results show that it is desirable to choose, if possible,
finite element approximations which yield a/,, (3h, and yh independent of h
(e.g., 6 = A = 0 in (7.44)). In the next section, we shall focus on this particular
aspect of our theory for a representative class of two-dimensional mixed finite
element methods.
Remark 7.3.1. The finite element approximations described above are based
upon the assumption that all \h, qh, and rh are continuous in fl and F c , and,
that "conforming elements" are used for all approximations. Now, if we
introduce a nonconforming approximation to the hydrostatic pressure qh,
identity (7.34) is clearly not applicable nor is the alternative Babuska-Brezzi
condition (7.38). In such cases, we can still obtain error estimates, but these
are obtained using orginal form (7.17) of the Babuska-Brezzi condition.
If (7.37) is employed, we can derive the following estimates using a proof
similar to that of Theorem 7.6: for v,, e \h, qh^Qh, and rh e Nh,
for some positive constants C,, C2, and C3 independent of the mesh size h.
An advantage of the nonconforming approximation of the pressure can be
realized when a perturbed Lagrangian formulation to (7.36) is considered.
188 CHAPTER 7
We shall study condition (7.38) in three steps, one for each of the three
parameters and each covered by an independent lemma. To do this, suppose
that the rectangular domain O shown in Fig. 7.1 is divided into a uniform
mesh of squares, and that the coordinates transformation between an element
H e and the master square element is given by
for -!<£<!, -1<17<1, h is the size of element O e , and (xe, ye) is the
centroid of fl e . The coordinate system (x, y) is used for each element, and
(£17) is used for the master element. Then the integrations of a continuous
function / over fl c or the master square are related by
where /(£, 17) is the value of the function / at the point (x, y) corresponding
to the above coordinates transformation.
190 CHAPTER 7
LEMMA 7.1. Let Vh and Qh be defined by (7.62) for a uniform mesh of square
elements covering the domain O shown in Fig. 7.1. Let
where £ M is the set of all nodal points located at corners of elements on the
boundary of the domain. Then there exists a positive constant a0) independent
ofh, such that
where {w,} and {(£, 17,)} are weights and the integration points in the master
element. Then, for every qh e Qh and vh £ VM, integration by parts yields
that is,
where v h = uhi+ vh\ in Oe, and u'h - u h (£,, rjj), etc. Then
for proper constants qit Q<i<3. Since Simpson's rule can integrate quadratic
polynomials exactly, we can conclude that
we thus have
It now follows from the inverse inequality that, for some constant C > 0,
The proof given in the above lemma essentially follow^ the work by Bercovier
and Pironneau [1, Prop. 1] in which other choices of finite elements for Vh
and Qh are also discussed as well as our choice of (7.62).
Remark 7.4.1. According to Bercovier and Pironneau [1], the combinations
shown in Fig. 7.3 satisfy the alternative Babuska-Brezzi condition (7.64), that
is:
• The displacement \h and the pressure qh are approximated by quadratic
and linear polynomials in an element, respectively (Fig. 7.3(a)).
• A composite element consisting of four 4-node elements for the displace-
ment v,,, and \h is approximated by a bilinear polynomial in each 4-node
element. The pressure qh is then approximated by a bilinear polynomial in
the composite element (Fig. 7.3(b)).
• An element consisting of four 3-node elements for the displacement v,,,
and vh is approximated by a linear polynomial in each 3-node element. The
SIGNORINI'S PROBLEM FOR INCOMPRESSIBLE MATERIALS 193
FIG. 7.3. Conforming finite elements for displacement and pressure. From M. Bercovier and O.
Pironneau [1], Numerische Mathematik. Copyright 1979 Springer-Verlag.
where
Noting that
we have
so that, upon applying the inverse property of such finite element approxima-
tions, we have, for vhn & 0,
FIG. 7.5. Conforming finite elements for displacements and contact pressures.
196 CHAPTER 7
where
Applying Lemmas 7.1 and 7.2 and (7.24) to each term of the above inequality
yields (7.70) or equivalently (7.71). D
Since rh is approximated by a piecewise linear polynomial, crh belongs to
N as well as Nh. Then it is possible to take
in the estimate (7.56), for the above choice of finite elements. Putting k = 2 in
Theorems 7.7 and 7.8, we can obtain the following error estimates of the finite
element approximation.
COROLLARY 7.9.1. Under the same conditions in Theorems 7.3, 7.8, and 7.9
with k = 2,
and
(see (7.40)). In this case, Nh could be constructed by the trace of \h; Lemma
7.3 also holds. Thus, all the results in Corollary 7.9.1 are valid. Because of the
regularity of p, we cannot expect improvement of the rate of convergence. If
we drop the incompressibility condition from the definition of the constraint
set, and if only the unilateral contact condition is treated by mixed finite
element methods, deleting all terms related to the pressure p in the above
derivation leads to the bounds,
7.5. Solution methods for the mixed finite element formulation. Using the
notation of §§ 6.4 and 6.5, we shall briefly discuss solution methods of the
mixed finite element approximation (7.36). Defining global shape functions
{</»a(x)|, {^«(x)}, and {rfa(\)} for the displacement, the hydrostatic pressure,
and the contact pressure, respectively, we have
Approximating \h, qh, and rh similarly, (7.36) reduces to the discrete system
198 CHAPTER 7
where
(i: no summation),
I (i: no summation).
Applying these to (7.77)-(7.79) we obtain
for any p", pa, and p a >0. Here summation is not taken on a and i. The
operator "min" indicates the minimum value. If cra < 0, then (7.79) yields
since r a = cra ± efa ^ 0 for sufficiently small e > 0 and for every fa. Since
cra < 0 is required, we have to restrict ara to be nonpositive. This yields the
operator "min." The following iterative method is suggested by the structure
of (7.81): for adequately chosen numbers pf, p", pa > 0, and initial approxima-
tions °u", °pa, and V", compute
SIGNORINI'S PROBLEM FOR INCOMPRESSIBLE MATERIALS 199
which implies
Suppose that s a <0 is given. Then (7.77), (7.78) and (7.79) yield the system
of linear equations
Solving this for a given sa, we obtain u", pa, and cra. Then we check o-a,
a = 1, • • • , K: If cra <0, then aa satisfies the constraint, and sa = 0 must be
set at the next iteration. If cra > 0, then the constraint is violated. Thus we
reset sa using (7.77) at the next iteration. Using the new approximation of the
slack function sa, we solve the system of linear equations (7.85), and obtain
M?, p", and aa. This process is continued until a desired accuracy is attained.
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Chapter O
The boundary Fc includes the true contact surface of the body fl which is
fixed along F D . Surface tractions t will be applied on FF, and F N is a free
surface (i.e., F N can be regarded as part of F F whereon t = 0).
201
202 CHAPTER 8
and
Here the given data {f, t} are assumed to belong to L2(H) x (H1/2(rF))', and
the space 3~ is defined by (5.66):
Operators IT, TTT, and irn are the trace operators for stress given in Theorems
5.10 and 5.11, and their existence is assured by the condition TG^". Recall
that if T6C°(a), then
Next, we consider the inverse of the constitutive law <ry = EijMeM. When
conditions (5.5) hold, the fourth-order tensor E = [Eijkl] is invertible a.e. on fi
and we denote its inverse by C = [Cyw]. Then strain is related to stress by
Next, let u denote the solution of the Signorini problem (6.27) and denote
ALTERNATE VARIATIONAL PRINCIPLES 203
i.e., o-j, is the actual stress field corresponding to u. Then, for any T e K* fl CXH),
we have
Since the displacement field u is the solution of our problem, u|ro = 0, and since
where <</», ^>r c =Jr c <fcM* for <f>eL2(Yc) and «/>e H 1/2 (F C ). Clearly, (8.9)
can also be described in terms of the constrained minimization problem,
where
for every a, TG ST. The equivalence of (8.9) and (8.10) follows from Theorems
3.4 and 3.7(i).
204 CHAPTER 8
for every FE R2, R2 being the space of rigid motions (recall (6.13)), there exists
a T 6 3~ such that
for every veHl(£l)/R2. Here u and v are cosets modulo R2 with respect to
representative elements u and v, respectively, and eij(u) = 2(uij + ujii). Set r,-, =
e 0 (u)e L 2 (ft). Taking v = <|>, <|>e 0(ft) in (8.15), we conclude that
in the sense of distributions on ft. Since ft e L 2 (ft), TI:/J e L 2 (ft), i.e., T e &. By
the generalized Green's formula (5.73),
(t c ) n <Oin(H 1 / 2 (r c ))'and
for every r e K 2 such that yLOO^O in Hl/2(Tc). Further, suppose that (8.6)
holds. Then there exists a unique solution cr e K* to the variational inequality
(8.9) and cr is also the unique minimizer of F* in K*.
Proof. In view of the results already established, it suffices to show that the
functional F* defined by (8.11) is coercive on K*. From (8.11) and (8.6), for
any reK*,
\\t\\r -*+00 if and only if \\v\\y -> +00 where & - {T{J e L 2 (O) | r(> = T,,, 1 < ij < N}
is a Hilbert space, see (5.66). Then
and let
for T e 3~. It is easily verified that the functional T -* P(T) is convex and
G-differentiate on 3~. Indeed,
and
the functional P defined by (8.21) is a penalty functional for the set K*.
Following the general theory of penalty methods (§ 3.5) a penalty formula-
tion of the constrained problem (8.10) can be defined by the minimization
problem
where
THEOREM 8.2. Under the conditions stated in Theorem 8.1, there exists a
unique solution tre e K* to the dual penalty problem (8.25), or equivalently (8.27).
Moreover, \\<re\\g- is uniformly bounded in e if 0 < e < 1.
Proof. The existence of a solution ore e K* follows from arguments similar
to those in Theorem 8.1. We need only prove the uniform boundedness of
fore<l.
Because of the uniform boundedness of {||cFe||^} in e, we can extract a
convergent subsequence from {0%}, the weak limit of which is a solution of
the original constrained problem (8.9) or (8.10):
THEOREM 8.3. Under the same conditions as in Theorem 8.1, the sequence
{cre} converges to oreK* which satisfies the variational inequality
as e -> 0.
Proof. From the variational inequality (8.27), we have for reK*,
We next show that the limit o-e Kj belongs to K*. For every re K*, (8.27)
implies
i.e.,
Suppose that (u, cr) is the classical solution of the Signorini problem (2.31):
for symmetric matrices or = [cr,y] and e = [e0], and let Cijkl and EiJU satisfy (8.6)
and (5.5). Then for every (v,T)eC 1 (ft)xL 2 (H) such that v = 0 on TD, vn<g
on Tc, and Tfj = rjl5 we have
and
and let
for
We now recall the admissible set K of (6.1) for Signorini's problem discussed
in § 6.2, and the space tf for stresses on the body:
and
ALTERNATE VARIATIONAL PRINCIPLES 209
where
Using the above notation, (8.32) and (8.33) can be rewritten in the form
Alternatively, if we define
i.e., ((d/du)L(cr, u))(v) can be identified with the duality pairing on (H'({l))'x
H'(ft),
Then ((d/da)L(a, U))(T) can be identified with the duality pairing on S^'x5^
according to
The first inequality in (8.43) implies (8.32) and the second inequality implies
(8.33). In fact, from the first inequality in (8.43), we obtain
for every weK, which is precisely (8.32), i.e., (8.41 ) 2 . Similarly, from the
second inequality in (8.43),
Applying Korn's inequality (6.17) for the case that mesr D >0, we have
ALTERNATE VARIATIONAL PRINCIPLES 211
Thus,
8.5. Finite element approximations of the dual problem. Let V/,, K/,, and Sh
be finite element approximations of V, K, and y, respectively, such that K/, is
a closed convex subset of \h. Suppose that there exists a positive number
ah > 0 satisfying
Further, let us suppose for simplicity that the domain O of the problem is
exactly covered by finite elements. Then, with these conventions in force, we
introduce the following finite element approximation of (8.41):
Find (<rh,uh)€ShxKh:
where
LEMMA 8.3. Let (a, u) and (vh,uh) be solutions to problems (8.41) and
(8.51), respectively. Then the following estimate holds for every The^T\Sh,
212 CHAPTER 8
v^eK,,, and v e K :
Applying (8.54),
and
Then
2) Applying (8.50),
After substituting (8.60) into the inequality (8.61) and applying Young's
inequality, we obtain the estimate (8.56). Here we have used the fact that
Va + b < \Ta + \fb for ct>0, b>0. Then (8.57) is easily concluded from
(8.60). D
Let us now introduce interpolation properties of finite element approxima-
tions, following §4.1. Let
and
214 CHAPTER 8
where ^ fc (n e ) is the space of all polynomials, the order of the complete part
df which is equal to k defined on fl e c fl, e = 1, • • • , E, and 2C is the set of
all nodal points on the boundary Fc. It is clear that Sh c y. Making use of
the interpolation properties listed in § 4.1, we see that interpolants v 7 € \h and
j'eSa of veH k + 1 (n) and TeH k (ft), respectively, can be found such that
where ah is the positive number appearing in the stability condition (8.50) and
h is the mesh parameter. If areH k (n) and u€H f c + 1 (ft), then numbers C,,
i = 1, • • • , 4, exist, independent ofh, such that
and
Proof. It suffices to note that neL°°(r) since fte < tf° fl . Estimates (8.67) and
(8.68) then follow from (8.56), (8.57), (8.65), and (8.66).
We have obtained error estimates for the finite element approximation (8.51)
in terms of parameters k and 8. We now consider particular choices of finite
elements for Vh and Sh, and obtain 8 for each case.
Examples. Let flc R 2 be divided into triangular elements, and let k = 1; that
is, the components of vh are linear polynomials and th is a constant function
on each finite element fl e . Then
Taking
ALTERNATE VARIATIONAL PRINCIPLES 215
On the other hand K,, c K since k - 1. Then taking vn = uhn in (8.67) yields
Therefore
for
which is the gradient of the strain energy functional \a(\, v). In view of (8.72),
the operator A is linear, continuous, and V-elliptic;
ALTERNATE VARIATIONAL PRINCIPLES 217
Returning to (8.76) and (8.77), we observe that since (8.76) can be written
in the abstract form
Thus, whenever
Let us now return to the Signorini problem. In the present study, the
kinematical restriction on possible deformations is given by
instead of
If g(0) = 0, i.e., if the gap function takes on a zero value at the origin, the
new constraint physically represents the situation in which the rigid support
(more precisely, a rigid body or punch) is indented into the body and its initial
depth of penetration is specified as a. If the shape of the rigid punch is
arbitrary, the contact surface and pressure are unknown a priori, even though
the depth a of indentation of the rigid punch is given. Thus, Signorini's
problems include a class of rigid punch problems if the constraint is defined
within some given constant a.
Now the stress condition for the Signorini problem is given by
where crn is the normal stress on the boundary F. Combining the kinematical
and stress contact conditions, we have
on rc, when crn and un are defined pointwise on the boundary Fc.
We now focus on the reciprocal structure of the contact condition (8.87), i.e.,
Here, ueH^ft) if feL 2 (H), t€ (H 1/2 (r F ))', and pe (f/ 1/2 (r c ))'. Then, if
fie ( # u , the normal trace of u, i.e.,
where
where
and
Here ( - , -)r c is the duality pairing on (H 1 / 2 (r c ))'x J/ 1/2 (r c ), and the partial
order "^s" follows from (3.19), in §3.1. We refer to (8.95) as a reciprocal
variational inequality.
Since G is positive definite on V, the variational inequality (8.95) is
equivalent to the following constrained minimization on KR:
where
THEOREM 8.7. Let mes(r D )>0 and let fte c£1>1. Suppose that (5.5) holds.
Suppose that G is the inverse of the operator A defined by (8.77).
Then there exists a unique solution pe KR to the problem (8.95), i.e.,
One of the advantages of the formulation is that the problem itself is reduced
to one involving functions defined only on the contact surface Tc. It is then
often possible to approximate the system using considerably fewer unknowns
than with the formulations derived previously. Moreover, the inverse operator
G does not depend upon the applied force (f, t) and the gap function g between
the elastic body and the rigid foundation. This property can be used to
advantage in designing economical solution methods for cases in which a large
number of loading conditions and initial gap functions need to be considered.
Remark 8.6.1. It is necessary to distinguish between the operator A: V-» V
defined by (8.77) and the operator s&:\-*\' defined by
in the sense of distributions on ft. The operator si then is called the formal
operator determined by the duality pairing (A(u), v) of (8.77).
Let us define the set
which defines the difference between A(u) and jtf(u). Here ( • , • )o denotes the
inner product on L 2 (ft). Roughly speaking, the difference <£ represents the
boundary conditions which are imbedded in the definition of the functional
A(u). In Theorem 5.12, we observed that
for the case in which V = H^ft), e.g., FD = 0. Thus the inverse G of A is not
simply the inverse of the differential operator ^(-) defined by (8.100). More
details on arguments such as these can be found in the book of Showaiter [1],
ALTERNATE VARIATIONAL PRINCIPLES 221
where
and
Here p is the contact pressure, f and t are applied body forces and tractions,
the subscript "n" denotes quantities associated with the outward normal unit
vector n to the boundary F, and the Green's operator G is the inverse of the
linear positive definite operator A defined by (8.77). In general, explicit closed
forms for Green's operator are not available except for a few simple cases
such as for semi-infinite domains. Thus, it must generally be approximated
numerically.
Suppose that f i h = n < = I R 2 . First, the bilinear form (8.77) is discretized by
finite element methods and a "discrete operator" [A] is obtained:
The total number of nodal points of the finite element model is assumed to
be P, and 2 D is the set of all nodal points on the boundary F D . Then the
approximation of Green's operator [G] is identified with the inverse of [A] on
the set RD. A
where
and Mc is the total number of nodal points on the possible contact surface Fc.
The inequality (8.109) can be solved by the projectional SOR method, which
assumes the form
(i) Choose the initial trial vector {P1} as an approximation of {P} so that
Since the matrix [G] is positive definite on RD, the compliance matrix [C]
for the unilateral contact is also positive definite. Then, as shown in Glowinski,
Lions and Tremolieres [1], the projectional SOR method described in above
converges as the number of iterations t -> oo on the constraint set Rh for any
value of the iteration parameter <o such that 0 < a> < 2.
It is also clear that the discrete variational inequality (8.109) can also be
solved using the penalty method. Indeed, for penalty formulations, the vari-
ational inequality (8.109) is approximated by the equation
for an arbitrary e > 0, where {P*} is defined by P^, = max (0, Pe,} for 1 < i ^ Mc.
The nonlinear equation (8.114) can then be solved by the successive iteration
method
We further note that the full inverse [G] of the matrix [A] is not used in
the construction of the [C] matrix described above. That is, the inverse [G]
need be obtained only for entries which are associated with the contact
conditions.
We recall that the jth column of the inverse [G] of the invertible matrix
[A] is the solution of the linear system
Moreover, since the contact pressure occurs only on the contact surface, we
need solve (8.116) only for j related to 2C. Therefore, once the upper-triangular
factor [Av] of the matrix [A] is obtained, the vector {g} and the part of the
inverse matrix [G] which is used to construct the matrix [C] are easily
calculated by using (8.116).
Example 8.1 (contact of an almost incompressible hollow cylinder). The
reciprocal formulation and the projectional SOR method described in (8.109),
(8.111) and (8.112) were used to solve the contact probem of an elastic hollow
cylinder on a rigid foundation shown in Fig. 8.1(a). The material of the elastic
ring is assumed to be almost incompressible: v = 0.499, and Young's modulus
E - 1000. The inner and outer radii are r = 4 and R = 8, respectively, and a
uniform line force is applied along the top of cylinder. Using symmetry, we
take only a quarter of the cross section to define a finite element model. Ten
9-node biquadratic isoparametric elements are used as shown in Fig. 8.1(b)
and the selective reduced integration method is applied to form the stiffness
matrix in order to avoid locking solutions, as in Example 6.5. The stiffness
matrix is formed and inverted after applying the boundary condition along
the y-axis and the constrained displacement on the top surface. Then the 9x9
compliance matrix (8.108) is generated, and the variational inequality (8.109)
is solved by the projectional SOR method with w = 1.0. In these numerical
experiments, the method converged at the 12th iteration for a tolerance of
10~4. The computed deformed configuration and the contact pressure are
illustrated in Fig. 8.1(c).
The stiffness due to near incompressibility is resolved by the selective reduced
integration method using a 2 x 2 Gaussian rule to integrate the term related
ALTERNATE VARIATIONAL PRINCIPLES 225
(stress restriction),
(frictionless condition).
Here a and 6 are the depth of indentation and the rotation of the rigid punch,
respectively, and g is the gap between Fc and the surface of the rigid punch.
Furthermore, if the rigid punch is not fixed, the total applied force and moment
have to be balanced by the total reacting force and moment, i.e.,
if o-22 and (T22x} are integrable on Fc, where P and T are given applied force
and moment around the x3-axis on the rigid punch. The force P is naturally
assumed to be positive.
Let u and cr be sufficiently smooth and let q be an arbitrary function such that
Then, for every q which satisfies (8.120), the following integral inequality is
obtained:
where
Supposejhat ueH ! (ft), its trace y(u) belongs to H 1/2 (F), and g£// 1 / 2 (F c ).
Then if Fc c int (F-F D ),
Thus, in analogy to condition (8.121) for smooth u and cr, we have the reciprocal
variational inequality
where
228 CHAPTER 8
and
where
Here Fc has been identified with the interval (dl, d2) of the rigid punch, since
the rotation 8 of the rigid punch around the origin has been assumed to be
ALTERNATE VARIATIONAL PRINCIPLES 229
infinitesimal. It is clear that q e (f/ 1/2 (F c ))' and q > 0. Next we solve the system
Thus, if
(8.131)
then Q,e and Q2e (i.e., Q, and Q2) are positive numbers. This means that if
the data (P, T), P> 0, satisfies the compatibility condition (8.131), a function
q can be constructed on Fc as in (8.130) which satisfies constraints in KR,
i.e., qzKR.
THEOREM 8.9. If condition (8.131) is satisfied by the data (P, T), P>0, then
the set KR of (8.126) is nonempty.
Physically, the compatibility condition (8.131) means that the given moment
T should be small enough so that the rigid punch remains in contact with the
foundation after undergoing rotation.
where d is the depth from the surface to the point where the vertical displace-
ment is zero. Then, if a pressure p is applied along Fc, the vertical displacement
230 CHAPTER 8
where
where
Here P and T are the total force and moment applied to the rigid punch. We
note that the operator G in (8.135) is defined by (8.133).
Let the domain Fc be divided into Mc -1 segments {Fc}^"1, and let 2C
be the set of all nodal points of Fc. Let fa be the global interpolation function
of the ath nodal point defined by
Then
where
ALTERNATE VARIATIONAL PRINCIPLES 231
yields
where
Putting
yields
(8.146)-(8.148) become
(8.150)
(a: no sum)
and
i
The matrix GQ/3 defined by (8.144) can be explicitly obtained by using the
formula
Indeed,
where
(iv) Continue iterations (ii) and (iii) until sufficiently small tolerances ep,
ea, and ee are obtained:
The above iterative scheme converges for sufficiently small iteration factors;
CD, pa, and p6, as shown in Glowinski, Lions and Tremolieres [1, Chap. 1].
Example 8.2 (a Hertz problem by the reciprocal formulation). Suppose that
a rigid infinitely long circular cylinder is indented into a semi-infinite
homogeneous isotropic linearly elastic foundation. This can be modeled as a
plane strain problem. We suppose that the boundary Fc is larger than the
width of the rigid punch, i.e., the diameter 2R of the cross section of the
cylinder, is 16 and the size of Fc is 20 in the example.
Our model of Fc consists of the twenty uniform segments with Young's
modulus £ = 1000 and Poisson's ratio ^ = 0.3. The depth d, see (8.132), is
assumed to be d -15. The iteration factor a) in (8.155) is set as w = 1.0. The
calculated distribution of the contact pressure is shown in Fig. 8.3 together
FIG. 8.3. Hertz problems for a semi-infinite foundation. From N. Kikuchi [4], Journal of Structural
Mechanics. Copyright 1979 Marcel Dekker, Inc.
234 CHAPTER 8
with the Hertz solution. A somewhat smaller value of the contact pressure is
obtained around the center of the punch. However, very good agreement with
the Hertz solution is obtained.
Example 8.3 (semi-infinite foundation with irregular punch). Consider the
semi-infinite foundation in Example 8.2. Suppose that either of the two rigid
punches in Fig. 8.4(a) are indented into the foundation by the application of
a force P and a moment T. In these cases, the condition (8.131), i.e., Pdl<T<
Pd2 has to be satisfied by the force P and moment T in order that a solution
exists. The forces and moments used satisfy this condition.
For Model 1, we choose as the iteration factors o>, pQ, p6 in (8.155) and
(8.156):
FIG. 8.4(a). Discrete model of the semi-infinite foundation for Example 8.3.
ALTERNATE VARIATIONAL PRINCIPLES 235
Here isotropy and homogeneity of the foundation are assumed, v is the Poisson
ratio, and JJL is the shear modulus.
Exactly the same variational form as (8.125) is obtained for this problem
for the case of a three-dimensional semi-infinite domain:
where
for a given applied force P and moments Tx and Ty on the punch. Here g is
the gap function to the foundation. A proper discretization to (8.160) yields
a form similar to (8.148) which is again solved by Uzawa's iteration method.
In the above discussion, we neglected all other stress components except
the normal contact pressure p. However, we have to deal with the case that
the tangential stress is prescribed on the surface Fc if friction effects are taken
into account for rigid punch problems. If the tangential stresses
are prescribed on the surface Fc, these produce the normal displacement
where
and A is the first Lame constant. Then the gap function g in (8.160) must be
replaced by g + vv3. The form (8.163) is derived from the Cerruti solution found
in Love [1, § 166]. Some further details on friction problems are discussed in
Chapters 11 and 12.
The reciprocal method described above is quite useful for solving contact
problems if contact surfaces are almost flat and if the solutions of Boussinesq
and Cerruti provide good approximations of the displacement and stress fields.
Indeed, this approach has been widely used to determine contact areas and
pressures; see e.g. Singh and Paul [1], Hartnett [1], Kalker [2], and others.
Although the solutions of Boussinesq and Cerruti are obtained for the semi-
infinite domain whose surface is flat, they are often applied even for smooth
curved contact surfaces with good approximation. Extensions to two-body
contact problems are taken up in the next section.
ALTERNATE VARIATIONAL PRINCIPLES 237
where
Eijk, is the elasticity tensor of H6, f 6 is the force body applied in £lh, and F6
is the boundary of H6. Then, as shown in § 8.6, (8.165) can be solved to yield
where N is the unit vector outward normal to the boundary F6,, G is the inverse
of the operator A defined as in (8.82) using the bilinear form b ( - , • ) of (8.166),
and u is the displacement due to the body force f b ,
Using this, the contact condition (6.108) to two-body contact problems can
be represented by
that is,
where n is the unit vector outward and normal to the boundary YC of the first
body ft0 and gR is the gap function between two surfaces YC and YC-
Approximating N = -n on the contact surface, we have
where
for every q < 0 on YC, if all the terms are smooth enough to have an integrable
integrand in (8.171). In general, (8.171) is represented by the duality pairing
ON
where
On the other hand, if the equilibrium of the first body fla is considered
under the assumption that the contact pressure p is known, we have the virtual
work principle,
where
and
(8.176) Va = {v6H I (n a )|y(v) = OonrS,}.
Here E°jM is the elasticity tensor of the first body H fl and Ya is the boundary
of (la. Therefore, two body contact problems are formulated by the system of
inequalities
ALTERNATE VARIATIONAL PRINCIPLES 239
for t = 1,2, • • • . Details of the finite element approximations and of the solution
method are essentially the same as those discussed in Chapter 6 and in previous
sections of this chapter.
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Chapter 9
tensor:
Here 1 < a, ft, A, /A < 2, commas denote differentiations with respect to the
material coordinates xa, E is Young's modulus and v is Poisson's ratio; ft c (R2
is the middle plane of the plate while in its undeflected reference configurations.
In the case of a clamped plate, we have as boundary conditions
whereas, for a simply supported plate, fixed along F, and subjected to applied
in-plane tractions Sa on F2 (F = F, UF 2 ), we have
Clearly, if w > -b, then the plate does not come in contact with the foundation
and equations (9.1) hold throughout the domain ft. On the other hand, if
w = — b, the plate comes in contact with the rigid foundation and there is a
transverse reaction for p = p(*i , x2) developed on the plate. Thus, p(x,, x2) = 0
if w(xl, x2) > —b and p(x^, x2) > 0 if M>(XI , x2) = —b, (xlx2) e ft, and we have
where
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 243
FIG. 9.1. Examples of large deflections and buckling of thin plates with lateral constraints. Reprinted
in modified form with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [1], Computer
Methods in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
and o-ap(u, H>) and Mn(w) are defined in (9.2) and (9.5), respectively. We note,
however, that the methods and results we develop in subsequent sections are
easily modified so as to apply to other choices of boundary conditions.
The study of unilateral problems for von Karman plates has been considered
by a number of authors. We mention, in particular, the work of Duvaut and
Lions [2], Naumann [1], John and Naumann [1], Do [1], and Ohtake, Oden
and Kikuchi [1]. Much of present study is based on this latter work, wherein
more details of the analysis can be found. The use of finite element methods
for the numerical analysis of problems of this type has been discussed by
Ohtake, Oden and Kikuchi [2] and a summary of the methods and results in
their paper is given in the present chapter.
and we endow Z(ft) and M(ft) with norms || • ||2(2 and || • ||li2, respectively. It
is then not difficult to show that constants Ci, c\, c2, c 2 >0 exist such that (see,
e.g. Naumann [1])
where
The relationship between (9.19) and the "classical formulation" (9.8) is not
difficult to establish. By direct substitution, we can easily verify that any
solution of (9.8) is also a solution of (9.19). Moreover, if (u, w) e M(ft) x Z(H)
is a solution of (9.19), then an integration by parts shows that
the relationship of the variational problem (9.19) and problem (9.8) is thus
clear.
There remains the question of whether or not solutions to (9.19) exist. We
will resolve this question by calling upon a lemma which is basic to the theory
of nonlinear operators:
LEMMA 9.1 (see, e.g., Brezis [1] and Oden [2]). Let Z be a reflexive Banach
space, K a nonempty closed convex subset of Z, and T a bounded continuous
operator from Z into its dual Z' satisfying the following conditions:
(i) T can be expressed as the sum of two operators, T=T{ + T2, where T\ is
monotone: (Tlzl- Tiz 2 , z\ - z2) ^ 0 for all zi, z2e Z. T2 is completely continuous-,
i.ei if zm-^z weakly in Z, then T2zm-+ T2Z strongly in Z'.
(ii) T is coercive, i.e.,
Then, for each /e Z', there exists at least one we K such that
for some suitable 5 0 >0. Then there exists at least one solution (u, w)e
)Vl((l)xZ(n) to the variational boundary value problem (9.19).
Proof. Our proof is divided into four steps. The first step effectively eliminates
the in-plane displacement vector u from the equations. We then verify that
the resulting operator satisfies the conditions of Lemma 9.1.
1) For arbitrary fixed z 0 e Z(H), we consider the linear elliptic problem of
determining u e M((l) such that
where
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 247
for every z, z l 9 z 2 eZ(fl). This latter inequality shows that the map G is
completely continuous; since W2'2(£l) is compactly embedded in W 1>4 (H) by
the Sobolev embedding theorem, any sequence wm converging weakly to w in
Z(fl) will converge strongly to w in !VM(ft) fl Z(O). Thus, if wm-^ w in Z(O),
then,by(9.22) 2 ,
then, by (9.14),,
for all w, z e Z(H). Since W 2>2 (fl) is compact in W 1>4 (fl), whenever a sequence
wm converges weakly to w in Z(il), it converges strongly to w in W 1>4 (n).
Hence, by (9.27), T2wm converges strongly to T2w in Z'(H), which means that
T2 is completely continuous. It follows that T=T\+T2 is the sum of a
monotone operator and a completely continuous operator and, hence, fulfills
condition (i) of Lemma 9.1.
248 CHAPTER 9
where eAM ^(G A (z) i/t + G M (z), A +Jz, A z, M ). Thus, <rz,z)->+oo as ||z||2.2-*oo
provided ||S||0,r2 is small enough for (^-CaHSJlo.rj) to be positive.
Hence, T satisfies all of the conditions of Lemma 9.1 for ||S||0,r2 sufficiently
small. This completes the proof of the theorem.
LEMMA 9.2. The functional TTP : Z((l) -> R defined in (9.30) is a legitimate
penalty functional: it is positive semidefinite on the set K of (9.18) and it is
weakly lower semicontinuous. Moreover TTP is Frechet differentiate on all of
Z(ft); indeed, at weZ(a),
Proof. Let us first establish some properties of the real valued function
With x = x+ + X-.
In other words, (y - x)2 > (y, - x_) 2 , |y - x\ > \y- - x_. Therefore
Now setting 4>(w)-^(w + b)2. = y(w + b), we have (using (9.32) and the
notation (9.34))
where T is defined in (9.23) is also the sum of a monotone operator (7\ + Dirp}
arid a completely continuous operator T2. Hence T+DTTP satisfies condition
(i) of Lemma 9.1. Likewise
Hence, T+ DTTP is coercive, in the sense of part (ii) of Lemma 9.1, for ||S||0,r2
sufficiently small.
We list the consequences of these properties as well as some other properties
of the penalized variational problem in the next theorem.
THEOREM 9.2. (i) For ||S||0)r2 sufficiently small, there exists at least one solution
(u e , w e ) £ M(O) x Z(H) of the following penalized variational boundary-value
problem for each e > 0:
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 251
Thus for ||S||0,r2 sufficiently small, || VVE ||2)2 is bounded by a constant independent
of e. The sequence {vve} must, therefore, have a weakly convergent subsequence,
which we also denote by we.
To show that the weak limit w of we is a solution of problem (9.19) with
u = G(w), we observe that
Hence,
and
and since,
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 253
Here we again used the fact that {VVE} converges strongly to w in Wl'*(£l).
Thus, we have shown that lim^o || w - we ||2)2 = 0; hence, {we} converges strongly
to w in Z(H).
(iii) Since
we have
where 6 is a nonnegative number, 0 > 0 for 1< /3 < 2, 6 = 0 for p > 2. Likewise,
constants cf, i = 0,1,2, 3, exist such that
Proofs of estimates such as this are given in Ohtake, Oden and Kikuchi [1].
We partition the plate into a uniform mesh of finite elements and over each
element we approximate the admissible transverse displacements zh and the
in-plane displacements \h by piecewise polynomials. By considering regular
refinements of the mesh, we obtain in this way families of finite dimensional
spaces {Zh} and {M/,} of Z(ft) and M(ft), respectively. The finite element
approximation of (9.36) then consists of seeking (weh, ue/,) e Zh x Mh such that
for all zh e Zh and vh e Mh. The identities (9.44) are obtained by subtracting
(9.3) from (9.41) and rearranging terms.
To provide some focus for our analysis, let us consider the specific case in
which the composite quadratic element shown in Fig. 9l2(a) is used as a basis
for constructing the subspaces Zh while the standard 8-node quadratic element
in Fig. 9.2(b) is used to approximate M! and u2 in M. Thus, if ft = Uf = 1 fte,
and fte is a typical finite element,
FIG. 9.2. (a) A plate bending element consisting of a composite of four cubics and (b) an 8-node
quadratic element for approximation of in-plane displacements.
Then, for each fixed e>0, there exist positive constants A,, i = 1, 2, 3, 4, 5,
independent ofh, such that
we obtain
2) We next estimate the term a(u; w, y)-a(v; z, y). We will need two
inequalities. First, note that
3) We next return to the identity (9.44) established earlier. Using (9.44) and
introducing (9.53) and (9.54) into the result, we obtain
4) Let
Then
where
where
Likewise,
where
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 259
Substituting these results into (9.44) and again applying Young's inequality,
we arrive at the estimate
where now
where the N, and $, are global basis functions corresponding to the elements
shown in Fig. 9.2. Thus, upon substituting these functions into (9.41) and
simplifying, we arrive at a system of nonlinear algebraic equations of the form,
K B is the bending stiffness matrix, K G (a) and K N (<j) are geometric stiffness
matrices whose elements depend on a and q, respectively, K p is the penalty
stiffness matrix, f and s generalized load vectors, and K m is the "membrane"
260 CHAPTER 9
stiffness matrix, i.e., the stiffness matrix corresponding to the in-plane deforma-
tions of the plate.
On the element level, K B is the usual stiffness matrix for linear plate bending
problems; entries of K B for the element in Fig. 9.2(a) have been tabulated by
de Veubeke [1]. The remaining matrices are of the form
3) Use a, to compute the matrix KG^) and form the nonlinear system
Then
FIG 9.3. Comparison of mesh size effect for the deflection of unilateral constraint plate, small
deflection model. Reprinted with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2],
Computer Methods in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science
Publishers.
FIG. 9.4. Deflection of uniformly loaded simply supported square plate with unilateral constraint
(u>> -2 mm). Reprinted with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2], Computer
Methods in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
two parallel sides of a square plate are fixed against in-plane motion while
the remaining sides are prescribed to move uniformly toward or away from
each other, a distance /, always remaining parallel. No transverse loads are
applied, and when the prescribed inward edge displacements reach a critical
FIG. 9.5. Deflection contour of unilateral constraint plate (1) small deflection theory, q = 800.
Reprinted with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2], Computer Methods
in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
264 CHAPTER 9
FIG. 9.6. Deflection contour of unilateral constraint plate (2) for large deflection theory, q = 800.
Reprinted with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2], Computer Methods
in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
value lcr, the plate buckles out-of-plane. An analytical solution to this problem
can be found in the book of Timoshenko and Gere [1]. However, in the present
case the behavior is further complicated by the presence of a unilateral
constraint: after buckling, the plate may come in contact with a rigid frictionless
FIG. 9.7. Unilateral deflection of simply supported post-buckling plate, N = l/lcr. Reprinted with
permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2], Computer Methods in Applied
Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
CONTACT PROBLEMS FOR LARGE DEFLECTIONS 265
FIG. 9.8. Edge displacement vs. edge compressive force for simply supported square plate after
buckling. Reprinted with permission from K. Ohtake, J. T. Oden, and N. Kikuchi [2], Computer
Methods in Applied Mechanics and Engineering. Copyright 1980 Elsevier Science Publishers.
10.2. The Signorini problem with Coulomb friction. Before focusing on the
special problem, we begin by considering the following general Signorini
267
268 CHAPTER 10
and
if un = g on Fc, then cr n (u) < 0 and
(lO.lb) if, in addition, |<r r (u)|< ^F|o-n(u)| then u r = 0 while
if |ar(u)| = ^ F |cr n (u)| then 3A S:0 such that u r = -Aer r (u).
Conditions (lO.lb) define a form of Coulomb's law of friction for elastostatic
problems: VF is the coefficient of friction
We shall assume throughout this chapter that conditions (5.5) on the elas-
ticities hold:
n c ( R N and 5(1 is sufficiently,
Here crn(u) = a-ij(u)ninj = E^u^ninj is, as usual, the normal stress developed
on Fc and v r is the tangential component of the displacement v on Fc. The
functional v-*j(v, v) is a nonconvex, nondifferentiable and nonquadratic func-
tional of the admissible displacements v e K.
For simplicity, let us use the following conventional notation:
The traces of the stress tensor and the displacement on the boundary are
defined in Chapter 5, and we shall not address these details in this chapter.
With the above preparations in place, we now consider the general variational
principle for the Signorini problem (10.1) with Coulomb friction:
The relationship between (10.1) and (10.5) is made clear by the following
theorem due to Duvaut and Lions [1] (for an alternative approach, see
Demkowicz and Oden [1]):
THEOREM 10.1. 7/u is a sufficiently smooth solution of (10.5) then u satisfies
(10.1). Conversely, any solution of (10.1) satisfies (10.5).
Proof. Let u be a "classical" solution of the Signorini problem with friction.
It is taken for granted here that the classical solution u of (10.1) is sufficiently
smooth. We first recall the Green's formula
we have
270 CHAPTER 10
Hence,
for all v e K .
Recall that crn(u)(vn-g)>0 for ve K. To obtain (10.5) from (10.6), we will
need the inequality
Hence, (10.7) holds. Incorporating this result into (10.6) yields (10.5).
To prove the converse (that a sufficiently smooth solution of (10.5) satisfies
(10.1)), we must assume that we have a vector field u e K that satisfies (10.5).
Pick v = <|>e ( C ^ ( f l ) ) N (which belongs to K because gs:0). Then, we easily
establish that, in the sense of distributions, o-y(u),7 +ft = 0 in 11. Hence,
L2(fl). Likewise, u e K implies u = 0 on FD (or y(u) = 0 on F D ) and un — g ^ 0.
Next, we choose ve K such that v r = u r . This yields,
where crT = a r (u), v r = y(v)--y n (v)n, etc. Let 4> = {<j>eH 1/2 (F)|supp<J)C
intF c } and set <!> = </>„ n + <f> r , <|> e4>. Taking v r = «|>T in the above inequality
CONTACT PROBLEMS WITH FRICTION 271
and noting that aT' n = 0, or T <J> T = crr 1 <J>, and |<J>|>|<|>r , we have
But this inequality and &T <s are equivalent to the friction-contact condition
in (lO.lb). Hence, the variational inequality (10.5) is formally equivalent (in
the sense outlined above) to the Signorini problem (10.1) with friction.
Difficulties with the model (10.5). Unfortunately, there are major mathemati-
cal difficulties inherent in the variational problem (10.5) which have stood in
the way of the development of an existence theory for this class of problems.
First, we note that the friction term J Fc i/ F |cr n (u)||u r ds has no meaning for
ueK: in this term, |o-n(u)| is defined by duality as a member of (jF/ 1/2 (F c ))'
while if u e K then we have only cr tf (u)g L 2 (ft). In addition, the term j(u,u)
is nonconvex and nondifferentiable, and, therefore, cannot be analyzed by th
methods we have developed thus far. The fact is that the question of existence
of solutions to the general problem (10.5) remains open. There are available,
however, existence proofs for some very special cases in which the contact
pressures happen to be very smooth, and we mention in this regard the existence
theory of Necas, Jarusek, and Haslinger [1] for the very idealized problem of
an infinite strip in R 2 uniformly loaded and resting on an infinite rigid founda-
tion. On the other hand, the absence of a complete existence theory for the
general problem together with physical evidence on friction have led some
investigators to question the validity of the Coulomb friction law (lO.lb).
272 CHAPTER 10
Following Duvaut and Lions [1], we will continue our analysis under the
stronger assumption that a constant c>0 exists such that
P being the L2-orthogonal projection of V onto R2. Then we can easily verify
that a(w, w)^m||w||? and that ||v||i is a norm on V equivalent to IMd + Hrllo.
Thus,
from which it follows that F(v)-»+oo as ||v||,-»oo. We have thus shown that
if (10.16) holds and TD = 0, F is coercive on V.
We sum up these results in the following existence theorem for problem
(10.11):
THEOREM 10.2. If either mes T D > 0 or TD = 0 and (10.16) holds, then there
exists at least one minimizer u e V of the functional F defined in (10.13). Moreover,
each minimizer u is a solution of the variational inequality (10.11); specifically,
u is characterized by
In the case mesT^^O, and we can conclude that there exists a unique
solution to (10.11) from the strict convexity of F. However, if YD = 0, solutions
to (10.11) are unique only to within an arbitrary rigid motion r€ R2: i.e., if u,
and u2 are distinct solutions of (10.11), then u t -u 2 e R2.
FIG. 10.1. Experimental results of Courtney-Pratt and Eisner [1] designed to show the variation
in the coefficient of friction over a load history; the experiment involves polished platinum at a normal
load o/920gwt. in which the tangential force is decreased and increased again (in the "reversibility
branches") a number of times, as shown, (a) The displacements, (b) The "reversibility branches" in
detail. • , VF decreasing; x, VF increasing. From J. S. Courtney-Pratt and E. Eisner [1], Proceedings
of the Royal Society of London, Series A. Copyright 1957 Royal Society of London.
276 CHAPTER 10
and
In addition,
on the contact surface Fc. This means that the friction condition (lO.lb)
Hence,
whenever y(v)eH r (r c ).
The finite element approximation of (10.11) is of the form
We easily verify that under the assumptions of Theorems 10.2 and 10.3,
there exist unique solutions uh and ueh to (10.30) and (10.31) respectively, the
CONTACT PROBLEMS WITH FRICTION 281
latter existing for each e > 0. Moreover, arguments identical to those leading
to (10.27) show that for fixed h, a constant C exists such that
In addition, let uh be the solution of (10.30) and suppose that Vh is such that
the interpolation properties (10.28) and (10.29) hold. Then
for all \he\h, where in the last step we use Green's formula and the regularity
assumptions stated in the hypotheses of the theorem to replace a(u, v,, -u)-
f(\h -u) by integrals on Fc.
We next use the coercivity of a( • , • ) and Holder's inequality to obtain
282 CHAPTER 10
Here we have used the inequality |v/,T| - U T | ^ \\hT -UT\. Introducing the inter-
polation properties (10.28) and (10.29), we have
The estimate (10.33) now follows from this last result after an application of
Young's inequality.
The final error estimate is now an immediate consequence of (10.32) and
(10.33) and the triangle inequality:
THEOREM 10.6. Let (10.32) and the conditions of Theorem 10.5 hold. Then
the error in the approximation of (10.11) by (10.31) satisfies
In particular, ifr = 2,
respectively, where
Similarly the additional term arising from the work done of the frictionftl
forces is discretized as
where
and
Thus the finite element approximation (10.31) yields the nonlinear system
for t = 1,2, • • • , where 'u£ is the fth approximation of u£, 'Auf the increment
for the (f + l)th approximation of uj, and '&R'a is the remainder at the end
of the fth iteration defined by
Solving the linear equation (10.44) in the increment 'Au£, we obtain the
approximation
where
FIG. 10.4. An elastic slab with an applied normal pressure on the top line CD on which Coulomb's
law of friction holds. Reprinted with permission from L. T. Campos, J. T. Oden, and N. Kikuchi
[1], Computer Methods in Applied Mechanics and Engineering. Copyright 1982 Elsevier Science
Publishers.
CONTACT PROBLEMS WITH FRICTION 285
FIG. 10.5. Computed results: (a) frictional stresses along line CD and (b) the deformed finite
element mesh. Reprinted with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1],
Computer Methods in Applied Mechanics and Engineering. Copyright 1982 Elsevier Science
Publishers.
where
In order to consider this problem, we shall decompose (10.50) into two parts:
Case 1. The prescribed tangential stress. Assuming that the friction stress is
known, we shall solve the Signorini problem obtained from (10.50),
where
where
286 CHAPTER 10
for a "prescribed normal contact pressure <rn" It is noted that the pressure crn
used to form the functional j need not match the contact pressure which is
obtained by solving the modified reduced problem (10.58). Now if we can
compute the solution u to (10.58) and the contact pressure on Fc, say am the
functional j can be updated by the newly obtained &„. If crn and an are close,
then the solution u of (10.58) could be identified with the solution to the
original Coulomb friction Signorini problem (10.50). If crn and <rn are not
close, this process could be repeated until the difference between an and <rn
is sufficiently small. We shall use this idea to show the existence of a solution
to a more general class of friction contact problems in Chapter 11.
We shall now describe an algorithm for solving (10.50) which makes use of
the Signorini problem in Chapter 6 and the reduced problem discussed in
§§ 10.3-10.6. The basic strategy is outlined as follows:
1) First, a finite element approximation of the problem is obtained for a
prescribed tangential stress on Fc. The idea here is to compute as a first
approximation, normal contact pressures produced to be used later as data
for a problem with friction but with prescribed normal pressures. For this
purpose, we employ the reduced integration, exterior penalty method described
in Chapter 6 for contact problems without friction, but for which tangential
stresses are prescribed on Fc. In this method, we seek a minimum of the
penalized energy functional
functional f\ in this case is given by (6.24) and the numerical analysis of this
case is discussed in detail in Chapter 6. The basic finite dimensional variation^!
problem is of the form
Note that this problem is nonlinear: the function (uehln - g) + is the positive part
of (Uhn~g) and is, therefore, unknown. However, any of several iteratiqn
schemes can be used to solve this problem without difficulty. In subsequent
numerical experiments, we employ the successive over-relaxation scheme
described in Chapter 6.
2) Having calculated u£» for a specified e, and h, we calculate nodal values
of the normal contact pressure by setting
and
for any iij,, \h£\h, where </> e (v h ) is defined in a similar way to that iri
(10.18)-(10.20).
Then a correction u£ of u£> for frictional effects is computed by solving the
linear problem
We remark that if the "sliding condition" (|u£r > e ) holds at a node, the
contribution to (10.64) from {D/e,;,(u£), v h ) is represented by the addition of
terms to the load vector of the system; on the other hand, contributions of
these frictional terms for |uh' T |<e are added to the stiffness matrix of the
problem. (The first iteration is performed under a stick condition.)
288 CHAPTER 10
4) Having obtained the solution ueh of (10.64), we can now calculate tangen-
tial stresses vehT on Fc. We return to the problem without friction described
in step 1 and, treating &ehT as data, resolve the contact problem for the case
in which tangential nodal forces cr^t/) are applied on the contact surface.
This leads to new iterates u£ l(2) , or£},(2) of the displacement field and the normal
contact pressure. We then repeat step 3 using these corrected solutions and
obtain a second (corrected) approximation of <rehT.
We continue this process until successive solutions do not differ by a
preassigned tolerance. We remark that while the above procedure has proved
to be convergent for many test cases, it may not always converge; one can
visualize cases in which tangential forces are applied in Signorini's problem
in the second iteration and no contact takes place. The process may terminate
or diverge. Also, there are no features of the process that would allow for the
detection of multiple solutions. Nevertheless, the process has proved to be
convergent and very effective for a wide class of friction problems and it
appears to work especially well in problems in which adhesion prevails over
significant portions of the contact surface.
Numerical examples. We shall now apply the above algorithm to several
contact friction problems. Some of these examples are drawn from the papers
of Campos, Oden and Kikuchi [1].
Example 10.2. The first example concerns the deformation of a thick elastic
slab resting on a Winkler foundation on which Coulomb's law holds.
Dimensions and material data are given in Fig. 10.6, the spring constant k of
the foundation being k = 100 units of force/length2. In this case, 4-node bilinear
elements are used and the regular mesh indicated in the figure was employed
to model the problem as shown in Fig. 10.6(a). A regularization parameter
e = 10~5 was used in the formulations (10.40).
Computed results are indicated in Fig. 10.6(b), where we find the deflected
shapes computed with and without friction compared, the latter corresponding
to a value of VF = 1.0. As expected, the contact area is smaller in the nonfriction
FIG. 10.6(a). Finite element model of an elastic slab resting on a Winkler foundation. Reprinted
with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods in Applied
Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
CONTACT PROBLEMS WITH FRICTION 289
FIG. 10.6(b). Computed displacements for an elastic slab resting on a Winkler foundation: (i)
without friction and (ii) with friction. Reprinted with permission from L. T. Campos, J. T. Oden,
and N. Kikuchi [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1982
Elsevier Science Publishers.
case and the magnitude of the deformation is smaller owing to the absence
of frictional forces. Note also that the presence of friction forces creates
significant shear deformations not experienced in the nonfriction case. In fact,
it is clear from the computed results that the classical Kirchhoff hypotheses
of beam theory are not valid when frictional forces are present since plane
sections normal to the slab's axis before deformation are not plane and normal
to the deformed axis after deformation. The computed variations in normal
contact pressures and tangential frictional stresses along segment AB are
illustrated in Fig. 10.6(c).
Example 10.3. Consider an infinitely long slab lying on a flat rigid foundation,
and suppose that its cross section is rectangular. If we assume friction exists
between the bottom surface of the slab and the foundation, and if the slab is
subjected to a downward uniformly distributed force on the top surface, a
friction contact problem can be defined. In this case, the contact pressure crn
is not specified although the contact area Fc is known a priori. Thus, we must
use the general formulation given by (10.50).
Suppose that the height and width of the cross section are h = 5 units and
b = 10 units, respectively, and that Young's modulus and Poisson's ratio are
E = 2.1 x 107 psi and v = 0.29, respectively. Assuming a constant coefficient of
friction VF = 0.3, we apply a uniform traction t = 104 psi in the negative direction
of the y axis without any body forces. Using the symmetry of the problem,
290 CHAPTER 10
FIG. 10.6(c). Computed frictional stress and contact pressure along surface AB. Reprinted with
permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods in Applied
Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
we solve only a right half portion, and obtain the distribution of the normal
and tangential stresses on the contact surface F shown in Fig. 10.7. It is obvious
that the contact pressure is no longer uniform, as in the frictionless contact
problem. High pressures are observed at the edges, but these remain finite
because the sliding condition is imposed.
Example 10.4. The next example involves the indentation of an elastic
half-space by a rigid spherical punch, as shown in Fig. 10.8(a). The material
is isotropic and homogeneous, with E = 1000 and v = 0.3, and we take vp = 0.6.
The half-space is modeled by the nonuniform mesh of biquadratic 9-node
elements indicated in the figure.
The algorithm described earlier was employed to solve this problem with
and without friction, with a penalty parameter e, = 10~10 and a regularization
parameter of e = 10~8. The results indicated in Figs. 10.8(b)-10.8(d) were
obtained after ten iterations. Figure 10.8(b) shows the computed deformed
shape of the "half-space" for the case with friction. The deformed configuration
suggests large shear deformations near to the separation point. Figure 10.8(c)
compares the contact pressure and the friction stress with classical Hertz
solution without friction. For frictionless problems, our finite element approxi-
mations are in excellent agreement with the Hertz solutions. If friction is taken
into account, the maximum contact pressure increases about 7 percent, while
the amount of contact area is reduced. An interesting feature of the numerical
result obtained is that the distribution of the friction stress has a sort of singular
CONTACT PROBLEMS WITH FRICTION 291
FlG. 10.7. The contact pressure an and the friction stress crT.
behavior at the limit point of the sticking zone. Indeed, the friction stress is
gradually developed in the center portion of the contact surface, and it rapidly
increases to the friction force created by sliding near to the interface of the
sticking and sliding zones. Computed stress distributions in the foundation
under the apex of the punch are shown in Fig. 10.8(d) and the computed
results are again compared with the classical frictionless solution. Note that
the presence of friction has brought about an increase in the maximum
longitudinal stress (<rzz) under the punch, but a substantial reduction in the
radial stress cr RR .
Example 10.5. In this example, we repeat the rigid punch problem of Example
10.4 except that we use a flat annular rigid stamp of the type shown in Fig.
10.9(a). The nonuniform mesh of 9-node biquadratic elements shown was
used, with EI = 10~10, e = 10~4. In this case, reasonable convergence of the
292 CHAPTER 10
FIG. 10.8(a). Indentation of an elastic body by a rigid spherical punch: undeformed configuration.
Reprinted with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods
in Applied Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
FIG. 10.8(b). Indentation of an elastic body by a rigid punch: deformed configuration. Reprinted
with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods in Applied
Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
CONTACT PROBLEMS WITH FRICTION 293
FIG. 10.8(c). Comparison between distribution of computed pressure and stress due to friction and
a classical Hertz solution along surface AB. Reprinted with permission from L. T. Campos, J. T.
Oden, and N. Kikuchi [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1982 Elsevier Science Publishers.
FIG. 10.8(d) Comparison between stress distributions along AC. Reprinted with permission from
L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods in Applied Mechanics and
Engineering. Copyright 1982 Elsevier Science Publishers.
294 CHAPTER 10
FIG. 10.9(a). Indentation of an elastic body by a flat annular rigid stamp: undeformed configuration.
Reprinted with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer Methods
in Applied Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
numerical process outlined earlier was obtained after only 5 complete iter-
ations.
Numerical results for the case of pure adhesion are summarized in Figs.
10.9(b)-10.9(d). The computed deformed shape of the mesh is shown in Fig.
10.9(b). Figure 10.9(c) contains plots of the displacement components at the
FIG. 10.9(b). Computed deformed configuration. Reprinted with permission from L. T. Campos,
J. T. Oden, and N. Kikuchi [ 1 ], Computer Methods in Applied Mechanics and Engineering. Copyright
1982 Elsevier Science Publishers.
CONTACT PROBLEMS WITH FRICTION 295
FIG. 10.9(c). Computed displacements and comparison with analytic solutions, from the results
of Shibuya, Koizumi and Nakahara [1]. Reprinted with permission from L. T. Campos, J. T. Oden,
and N. Kikuchi [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1982
Elsevier Science Publishers.
FIG. 10.9(d). Computed stresses and comparison with analytic solutions, from the results of
Shibuya, Koizumi and Nakahara [I]. Reprinted with permission from L. T. Campos, J. T. Oden,
and N. Kikuchi [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1982
F.lsevier Science Publishers.
296 CHAPTER 10
surface of the foundation and Fig. 10.9(d) shows the stresses under the
punch for the nonfriction and friction cases. Also indicated in the figure
are results obtained by Shibuya, Koizumi and Nakahara [1] for this case
using an analytical method. The results are seen to be in quite good agree-
ment with the analytical solution.
We remark that in this example a strong singularity in stress exists at the
edges of the stamp, the character of which is unclear from the numerical
results. It is known (e.g., Muskhelishvili [1]) that in the case of full adhesion
of a rectangular punch indented in a half-space, a logarithmic singularity in
stress exists in a small neighborhood of each corner. For a stamp of length /,
the singularity is such that the stress changes sign in a neighborhood of diameter
roughly .003 /; hence, the singularity is very localized. On the other hand, if
full sliding occurs (i.e., |CTT| = vF\crn\ throughout Tc), a singularity of O(l/Vr)
is developed in the stress, r being the distance from the corner of the stamp.
The analysis of Shibuya, Koizumi and Nakahara [1] indicates a singularity
of 0(l/-/r) for the general case. Our results, which may not be sufficiently
refined to give a full picture of this singularity, seem to indicate a singularity
of strength O(l/Vr).
Example 10.6. Let us next consider a two-body contact problem with friction.
This example involves the contact of the circular disk and a rectangular plate
shown in Fig. 10.10(a) which are assumed to be in plane stress and to both
be constructed from the same material (Young's modulus E = 2.1 x 104psi,
Poisson's ratio v = 0.29) and to have the same thickness, t = 1 unit. The width
of the plate is twice the radius of the disk and the height is the same as the
radius. We shall model this problem using 99 4-node (Qr) elements and we
exploit the symmetry with respect to the vertical axis through the centroid of
the disk. We take for the radius of the disk R = 50 units and for the applied
force at the top of the disk P = 104 Ibs.
The computed deformed configuration is shown in Fig. 10.10(b), and the
corresponding contact pressure ov, and the friction stress crT are given in Fig.
10.10(c) for the case in which the coefficient of friction is vp = 0.3. In this case,
we cannot find any portion of the contact surface that is sliding and the friction
force is very small compared to the contact pressure. This differs from the
results obtained in Example 10.4 for the rigid punch problem. If a rigid disk
is used, considerably larger friction stresses are created on the contact surface
and the sliding zone appears near the separation point. It is easily understood
that if two identical disks are in contact, there should not be any friction
stresses and sliding zones. Figure 10.10(d) shows the principal stresses at the
centroid of each element, and Fig. 10.10(e) gives contour lines of the Tresca
stress measure,
where cr, and cr2 are the principal stresses for plane stress problems.
Example 10.7. This example involves the two-body contact problem with
friction illustrated in Fig. 10.11(a), which features bodies constructed of two
different materials. The elastic punch is characterized by a Young's modulus
E=2.1xl0 4 and Poisson's ratio i> = Q.29, while the elastic foundation is
constructed of a material with E = 2.1xl0 3 and ^ = 0.45. Plane strain is
assumed in the formulation.
We assume that a horizontal thrust P is applied along the right edge of the
punch, while the punch is simultaneously indented into the foundation to a
depth d = 0.4. We shall solve the friction contact problem for two cases: P = 25
300 CHAPTER 10
FIG. 10.1 l(b). Deformed configurations for two applied horizontal thrusts P.
CONTACT PROBLEMS WITH FRICTION 301
FIG. 10.1 l(c). Displacement vectors of the elastic punch and foundation for two different horizontal
thrusts.
where (o is the given angular velocity at 30,000 RPM. Fixing the left end of
the structure, and sliding the right end without any friction, we shall consider
contact of two separated structures near to the center. We assume that both
structures have a Young's modulus of E = 2.1 x 105 and Poisson's ratio v = 0.29,
and that the bodies are in a state of plane strain. The coefficient of friction is
*/F = 0.3.
304 CHAPTER 10
FIG. 10.11(f). ho-Tresca stress lines of the structure for two different horizontal thrusts.
FIG. 10.12(c). Distribution of the contact pressure and the friction stress.
306 CHAPTER 10
described. Finally in § 11.8 in order to take into account the history of the
loading, quasi-static friction problems are considered and variational prin-
ciples, in an incremental form, are introduced.
Portions of this chapter are based on the works of Oden and Pires [1], [2],
[3], [4] and Pires and Oden [1] where further details can be found.
Why more generalfriction laws ? The classical pointwise friction law presented
by Amonton in 1699 and extended by Coulomb in 1781 asserts that relative
sliding of two bodies in contact will occur when the net tangential force reaches
a critical value proportional to the net force pressing the two bodies together.
This remarkably simple idea, which was actually known to da Vinci in the
fifteenth century, has been the basis for most friction studies for almost three
centuries.
As friction phenomena and the structure of mathematical models of friction
become better understood, however, it becomes increasingly clear that the use
of these classical "laws of friction" as a basis for contact problems in the
theory of elasticity is neither acceptable from a physical nor a mathematical
point of view. From the purely physical side, it has been recognized for many
years that the Amonton-Coulomb law is capable of describing only friction
effects between effectively rigid bodies and gross sliding of one body relative
to another. Indeed, it is very doubtful that Coulomb himself intended that his
law be applied in a pointwise way in contact problems in elasticity. In 1781
when Coulomb presented his "Theorie des Machines Simples" to the French
Academy, the foundations of continuum mechanics were in an early stage of
development; the concept of stress and the general equations of linear elasto-
statics were not to come until a half-century later in the writings of Cauchy,
Navier, and others, and a full century would elapse after Coulomb's work
(and 182 years after Amonton's) before the simplest contact problems in
elasticity were dealt with successfully by Hertz. From the mathematical point
of view, it is shown in Chapter 10 that if Coulomb's law is applied pointwise
in contact problems involving linearly elastic bodies, then the contact stress
an developed normal to the contact surface may be ill defined. Except for
some very special cases (e.g., Necas, Jarusek, and Haslinger [1]) the funda-
mental question of existence of solutions of the friction problem is open (for
other related open questions, see Duvaut and Lions [1]).
Independent of the nonlinear character of local friction phenomena, there
are also mathematical reasons to expect that a nonlocal friction law might
lead to a more tractable theory. Duvaut [3] observed that the source of
difficulties in establishing an existence theory for Signorini's problem with
Coulomb friction was the lack of smoothness of the normal contact pressure
crn. Therefore, by considering, instead, a proper mollification of the normal
stresses on the contact boundary he was able to state that the principal obstacles
in the way of deriving an existence and uniqueness theory for contact problems
with friction could be overcome. One interpretation of such a smoothing of
NONCLASSICAL FRICTION LAWS 309
tractions, Mindlin uses Coulomb's law of friction: the shear traction at any
point in the interface cannot exceed the product of the normal pressure at
that point with a constant coefficient of friction representative of the material
and of the surface. The assumption of a finite coefficient of friction between
the surfaces in contact was also used by Spence [1], who formulated the
axisymmetric contact for a flat indentor as a mixed boundary-value problem
governed by a pair of Volterra equations.
Extensions of Hertz's theory to the case where no slip or full adhesion is
assumed were considered by Goodman [1] who sought a solution by a method
in which the load and the contact area were allowed to grow incrementally,
and also by Muskhelisvili [1, p. 476] and Gladwell [1, p. 160]. Their solutions,
however, exhibit physically unrealistic logarithmic singularities at the periphery
of the contact area. Other extensions taking into account the roughness of the
contacting surfaces were introduced, among others, by Archard [1], Green-
wood and Williamson [1], Greenwood and Tripp [1], Nayak [1], and Johnson
[2]. These authors simulate a rough contact surface by considering a statistical
distribution (Gaussian or exponential) of spherical protuberances covering
the surface of the bodies that deform elastically and independently according
to Hertz's theory.
The first variational formulations of static friction problems in the context
of linear elasticity were given by Duvaut [1] in 1970. In 1971, Duvaut and
Lions [2] presented an existence theorem for displacements and uniqueness
for stresses and strains for the problem of an elastic body whose surface is
submitted to a given density of normal forces and whose tangential displace-
ments of surface points are prescribed displacements with friction following
Coulomb's law. Variational formulations of other friction problems, in par-
ticular of Signorini's problem with Coulomb friction, are given in Duvaut and
Lions [1] together with proofs of equivalence between the classical and the
variational statements of these problems. (Details of this class of friction
contact problems have been studied in the previous chapter.)
Due to the lack of an existence theory for the Signorini problem with
Coulomb friction and the mathematical difficulties associated with this problem
(see §§ 10.2 and 10.7), Duvaut [3] introduced a variational formulation of the
Signorini problem using instead a nonlocal law of friction. Statements of
theorems on existence and uniqueness of solutions are given, as well, in the
brief note of Duvaut [3], Variational principles of this type have also been
studied mathematically by Demkowicz and Oden [1] who, unlike Duvaut,
based their analysis on the theory of pseudomonotone variational inequalities
and also by Oden and Pires [1], [2] who not only gave complete proofs of all
relevant theorems but also generalized these principles in order to include the
tangential compliance effects that occur on the contact surface.
Finally, we wish to review briefly some of the experimental work that has
been done in the study of friction between metallic surfaces. The classic
NONCLASS1CAL FRICTION LAWS 311
reference here is again the treatise of Bowden and Tabor [1] who describe an
experimental study of the physical and chemical processes that occur during
the sliding of solids, particularly of metals. These investigations were continued
in a second volume by Bowden and Tabor [2]. The direct experimental
demonstration of junction growth and its role in adhesion was first shown by
McFarlane and Tabor [1] in their study of the behavior of indium in air. The
use of normal adhesion as a means to determine the area of contact between
the surfaces as well as the effect of surface films on the adhesion of solids was
also experimentally shown by McFarlane and Tabor [2]. Their results also
show that the smallest tangential stress initiates movement. Johnson [1] and
Courtney-Pratt and Eisner [1], among others, studied experimentally under
static conditions the microdisplacements produced when tangential forces,
less than those necessary to produce gross sliding are applied to contacting
metal bodies.
The frictional behavior due to the formation and inelastic deformation of
junctions was the subject of experimental work of Green [1] and Greenwood
and Tabor [1]. The experimental study of microdisplacements under oscillatory
conditions, i.e., involving oscillatory tangential forces, was also considered by
Johnson [1], [2] and by Mindlin et al. [1]. In this case, vibrational energy is
dissipated at the interface and fretting of the surfaces occurs. Measurements
of the energy loss were made and the results compared with the analytic theory
of Mindlin et al. [1]. We particularly refer to the microphotographs shown in
Johnson [1], [2] (and also in Bowden and Tabor [2]) of surfaces subjected to
oscillating forces of different amplitudes. A careful study of these photographs
shows that intimate metal-to-metal contact occurs only at the crests of the
surface asperities and that an annular region of damage takes place, spreading
inward with increasing tangential force. As a last reference we mention the
experimental analysis of displacements and shears at the surface of contact
between two loaded models made of transparent polyurethane rubber (photo-
flex) done by Bremond and Durelli [1].
FIG. 11.1. Reproduction of a microphotograph in Bowden and Tabor [1] showing asperities on a
copper surface. From F. P. Bowden and D. Tabor [1], The Friction and Lubrication of Solids.
Copyright 1950 Clarendon Press.
To understand friction, one must first appreciate the role of the microstruc-
ture of the materials involved. Consider an experiment in which two metallic
bodies are placed in contact along two apparently flat machined surfaces. At
microscopic levels, specifically at magnifications of lOOx to SOOOx machined
metal surfaces are seen to be not smooth homogeneous planes but rough
contours with numerous irregularities which are large compared with molecular
dimensions. We refer to these deviations from the plane as asperities (see Fig.
11.1 for a reproduction of a photograph given in Bowden and Tabor [1, Plate
II]).
When we press together two surfaces, actual contact initially occurs only at
the peaks or summits of the asperities. Large areas of the surfaces are separated
by a distance which is large compared with the range of molecular action, so
that these gaps in the surfaces are completely separated and have no interaction
with one another. The load is, therefore, initially supported at the tips of the
asperities; the area of contact is extremely small, and the pressure at the points
of contact is high even for lightly loaded surfaces. Plastic deformation of the
tip of the asperities occurs at small loads while the bulk of the underlying
metal deforms elastically. As the normal load is further increased, the asperities
deform and fracture with the result that the local load is distributed over an
area surrounding each deformed asperity. At this stage, each asperity has been
flattened and the local contact forces are distributed over a neighborhood of
the asperity. Hence the real area of contact Ar is only a fraction of the nominal
or apparent area and is given by the sum of the areas of all the surface
irregularities which are touching and which support the load. The true contact
pressure is therefore also discontinuous since it is transmitted through the
deformed asperities as indicated in Fig. 11.2.
It is often assumed that the local plastic yield pressure p0 is nearly constant
and is comparable to the indentation hardness of the metal. Under these
NONCLASSICAL FRICTION LAWS 313
FIG. 11.2. Surface roughness, asperities; contact between two surfaces, junctions.
circumstances, the real area of contact for any one asperity bearing a load N;
is A( = Nj/Poi f°r the assembly of the asperities, the real contact area is
where JV is the total normal force pressing the surfaces together. The real area
of contact is, thus, proportional to the load and independent of the size of
the surfaces. Over these regions where intimate contact occurs, strong adhesion
and welding of the metal surfaces takes place and the specimens become, in
effect, a continuous solid. We refer to these regions as junctions.
314 CHAPTER 11
FIG. 11.3. Surface films according to Rabinowicz. From E. Rabinowicz [1], Friction and Wear
of Materials. Copyright 1965 John Wiley, Inc.
Under most working conditions, metal surfaces are covered by a thin film
of oxide, water vapor, and other absorbed impurities, as shown in Fig. 11.3.
The shear strength of these junctions can be strongly dependent upon the
shear strength of these surface films. In particular, it is the shear strength of
this layer of oxide and impurities that often determines the coefficient of
friction and not, in general, the shear strength of the parent metals (see Bowden
and Tabor [2, p. 74]).
The application of a tangential force T creates a tendency for the two bodies
to slide relative to each other. The contact pressure must then decrease (since
it was near or equal to the plastic yield stress). Some microscopic motion will
occur even when T is small (see Fig. 11.4). If T is steadily increased, a value
of sufficient magnitude to fracture the contaminant films is eventually reached
and gross sliding occurs. It is,customary to set the ratio of the magnitude of
T at which sliding occurs to the net normal force N equal to the coefficient
of friction v. If s is the average shear strength of the interface, it follows that
approximately
FIG. 11.5. Reproduction of microphotographs in Bowden and Tabor [2] showing damage produced
by an oscillating tangential force for two different values of its amplitude. From Bowden and Tabor
[2], The Friction and Lubrication of Solids. Copyright 1964 Oxford University Press.
316 CHAPTER 11
the area of real contact still remains approximately proportional to the load,
although the overall deformation is elastic (see Archard [1]); second, it allows
us to treat each region of contact as being roughly circular (see Fig. 11.5 for
a reproduction of microphotographs given in Bowden and Tabor [2, Plate
IX]) and to regard the contact pressure as being essentially symmetric, attaining
its maximum magnitude at the center of the circle of contact, in a manner
consistent with the well-known analysis of Mindlin [1].
We emphasize that the junctions through which loads are transmitted from
one body to another are not rigid; indeed, they are composed of a deformable
composite of metal, metal oxide, and surface contaminant that, for our pur-
poses, can be assumed to be elastoplastic or nonlinearly elastic. Several
researchers have actually measured the tangential micro-displacements that
occur, in friction experiments on metals, prior to gross sliding of the surfaces,
and we mention as examples the works of Johnson [1] and Courtney-Pratt
and Eisner [1]. Figure 11.6 reproduces a typical result of a static displacement
test of Johnson [1] which involved the contact of a hard steel ball with the
flat end of a hard steel roller. Micro-displacements are produced by an applied
shear force varying progressively from zero to the value necessary to produce
slip. The deformation of individual junctions from their formation to fractur
was also studied by Green [1] using plasticine models. Greenwood and Tabor
[1] performed several experiments simulating three basic types of junctions:
(1) strong welded junctions, which are formed when the contact surfaces are
very clean, (2) weak, dry junctions, which are formed when the surfaces are
contaminated by dust and oxides, and (3) lubricated junctions, which are
formed when there is a film of fluid between the surfaces. The materials used
were aluminum, indium, lead, and plasticine. Their results are shown qualita-
FIG. 11.6. Measured shear-tangential displacement variations after the experiments of Johnson.
From K. L. Johnson [1], Proceedings of the Royal Society of London, Series A. Copyright 1955
Royal Society of London.
NONCLASSICAL FRICTION LAWS 317
FIG. 11.7. Values of the normal force N and tangential force Tfor (a) strong junction, (b) weak
junction, (c) lubricated junction according to Greenwood and Tabor. From J. A. Greenwood and
D. Tabor [1], Proceedings of the Physical Society of London, Series B. Copyright 1955 Physical
Society of London.
support pressures so large that they are comparable with the strengths of the
materials of the contacting bodies. Bowden and Tabor [1] suggested that these
pressures would be always high enough to produce plastic flow. The contacting
regions would deform plastically until the true area of contact would be just
large enough to support the load. The true area of contact Ar would be then
proportional to the applied load N. With this proportionality, ArocN, it is
possible to provide a simple and elegant explanation of Amonton's laws of
friction.
Objections to the concept of plastic deformation of the asperities were put
forward by Archard [1]. According to this author, when materials of compar-
able hardness rub together, a protuberance may be plastically deformed at its
first encounter with the other surface, but its relaxation would be elastic. At
its many subsequent encounters with the other surface the protuberance would
bear the same load by elastic deformation. Archard shows then that although
the simple Hertzian theory does not predict the proportionality between Ar
and N, a generalized model in which an asperity is covered with microasperities,
and each microasperity with micro-microasperities, gives successively closer
approximations to the law ArocN as more stages are considered (Fig. 11.8).
Archard explained that the essential part of the argument was not the choice
of asperity model: it was whether an increase in load creates new contact areas
or increases the size of existing ones. For physically plausible surfaces any
elastic model in which the number of contacts remains constant, we find that
Aroc N2/3; but if the average size of contacts remains constant (and its number
increases) then Ar oc N. Although, admittedly artificial, Archard's models were
thus very important in showing the admissibility of elastic deformation of the
asperities and the effect of the superposition upon the surfaces of asperities
of widely differing scales of sizes.
FIG. 11.8. Models of surfaces containing asperities of differing scales of sizes. The relationships
between the true area of contact (Ar) and the normal load (N) are: (a) Arx N4/s; (b) Aroc N14/IS;
(c) /4r°cN44/45. From J. F. Archard [2], Surface Topography and Tribology, Tribology Inter-
national. Copyright 1974 Butterworth Scientific Ltd.
NONCLASSICAL FRICTION LAWS 319
The next step came with the development of surface models based on
knowledge gained from the examination of the actual surface topography.
Greenwood and Williamson [1] and others have shown that for many surfaces
the distribution of heights is very close to Gaussian. These authors also
investigated the distribution of peak heights and concluded that it was also
close to Gaussian (see Fig. 11.9). The model developed by Greenwood and
Williamson thus assumed a Gaussian distribution of peak heights (asperity
heights). They also assumed that the asperities, at least near their summits,
were spherical with a constant radius of curvature. The topography of the
surface was described in terms of three parameters: cr*, the standard deviation
of the distribution of asperity heights, Rt the mean radius of curvature of the
asperity tips (assumed constant in the model), and 17, the surface density of
asperities (later, Whitehouse and Archard [1] showed that these parameters
are not independent).
FIG. 11.9. Cumulative height distribution of bead-blasted aluminum. (x) Distribution of all heights.
(•) Distribution of peak heights. A perfect Gaussian distribution would give, with the vertical scale
used, a straight line. From J. A. Greenwood and J. P. B. Williamson [1], Proceedings of the Royal
Society of London. Copyright 1966 Royal Society of London.
320 CHAPTER 11
FIG. 11.10. Relation between separation and load. From J. A. Greenwood and J. P. B. Williamson
[1], Proceedings of the Royal Society of London. Copyright 1966 Royal Society of London.
FIG. 11.11. Relation between true area of contact and load. nominal area A = 10 cm2;
2
nominal area A = \ cm . From J. A. Greenwood and J. P. B. Williamson [1], Proceedings of the
Royal Society of London. Copyright 1966 Royal Society of London.
NONCLASSICAL FRICTION LAWS 321
The results obtained using this theory, for typical values of or*, R, 17 and
E' are shown in Figs. 11.10 and 11.11. In Fig. 11.10, the separation h* is the
distance between the mean planes of the distribution of peak heights of the
two surfaces. It is clear that the separation decreases approximately proportionally
to the increase of the logarithm of the normal load and that the real area of
contact is approximately proportional to the normal load. Greenwood and
Williamson observed that the above proportionalities hold exactly if the distribu-
tion of asperity heights is assumed exponential rather than Gaussian. For such
a distribution, which is a fair approximation to the uppermost 25 percent of
the asperities of most surfaces, it is possible to obtain closed form expressions
for the relations: load-separation, area of contact separation and, consequently,
area of contact-load:
Here the separation h is the distance between the mean planes of the distribu-
tions of surface heights (see Fig. 11.12), and H is the indentation hardness.
(H = applied load/permanent indentation area when a hard indenter is pressed
into a "flat" surface.)
322 CHAPTER 11
FIG. 11.12. Separation and penetrating approach between a rough and aflat surface. current
mean line of the rough surface; mean line of the rough surface at the beginning of contact;
h = current separation; h0 = separation at the beginning of contact; a = h0 — h = penetrating approach.
Other authors have also modeled conditions on the contact surface that are
more complex than a simple elastic or plastic deformation of the asperities.
Mikic [1] modeled elastoplastic conditions. He assumed that the real contact
pressure is equal to the lower hardness of the contacting materials and that
the total deformation of each asperity is the sum of elastic and plastic deforma-
tions produced by that pressure. Analogous assumptions were later used by
Ishigaki et al. [1] to model loading-unloading situations. Work hardening of
the asperities was first considered by Hailing and Nuri [1]. Work hardening
and the mechanics of unloading-reloading were incorporated in the model of
Francis [1].
Some experimental results. Early experimental results on the stiffness of
contacting surfaces and their real area of contact can be found in Kragelskii
[1]. This author refers to the work of Sokolovskii [1], Bobrik [1] and Votinov
[1] who proposed a relationship between the approach (a) and the nominal
pressure (p) of the form:
FIG. 11.13. Real area of contact vs. pressure for different metals in contact with a glass prism. (1)
lead, (2) cadmium, (3) magnesium, (4) aluminum, (5) copper, (6) steel 10. Maximum height of
surface asperities: 40 p.. From I. V. Kragelskii [1], Friction and Wear. Copyright 1965 Butterworth
Scientific Ltd.
324 CHAPTER 11
may only be considered linear at low pressures or for materials which do not
work harden appreciably.
Important sources of experimental results on the contact of metallic surfaces
can be found in the literature devoted to the design of machine tools. The
research of several workers who studied the stiffness, damping, friction and
wear characteristics of fixed and sliding joints has been summarized in a paper
by Back, Burdekin and Cowley [1]. The essential conclusions related to the
stiffness of contacting surfaces are the following:
(1) For low nominal pressures, characteristic of sliding connections, no plastic
deformation was observed and the approach-normal load relationship is of the
form of the above power law with K = 0 and with m having values in the
range m = 0.32-0.5, in perfect agreement with the observations of Sokolovskii
mentioned above.
While these authors' reference to "no plastic deformation" represents a mild
contradiction to those results described earlier, a study of available discussions
of the experimental set-up indicates that some rubbing of the surfaces may
have been done prior to the experiments in order to obtain reproducible results
(e.g., Dolbey and Bell [1]).
(2) For higher nominal pressures, characteristic of fixed or bolted connec-
tions, the general behavior to be expected when successive loadings and
unloadings of the surfaces are performed, is shown in Fig. 11.14. It is clear
FIG. 11.14. Penetrating approach due to successive loadings and unloadings of a metal surface.
The experimental values a contain the deformation of the surface asperities (penetrating approach)
and some deformation of the solid material in the neighborhood of the interface. From R. Connolly,
R. E. Schofield, and R. H. Thornley [l], The Approach of Machined Surfaces with Particular
Reference to their Hardness in Advances, in Machine Tool Design and Research, Proceedings of
the 8th International M.T.D.R. Conference, The University of Manchester Institute of Science
and Technology, September 1967, S. A. Tobias and F. Koenigsberger, eds. Pergamon Press,
Oxford, 1968, pp. 759-665. Copyright 1968 Pergamon Press.
NONCLASSICAL FRICTION LAWS 325
that the total approach of the surface has an elastic and a plastic component and
that (if the joint orientation is not disturbed) the unloading and reloading paths,
are practically coincident. For these elastic paths, Connolly and Thornley [1]
proposed the following relationship between the approach and the normal load:
when the logarithm law is used. It was also found experimentally that for mild
steel specimens with shaped or turned surfaces the constant B is inversely
proportional to the surface roughness. Consequently, the stiffness is inversely
proportional to the surface roughness.
In recent years, much experimental work has been done to test the statistical
models of the surface geometry and contact. The essential conclusions of a
survey paper of Woo and Thomas [1] are the following:
(i) The bearing area ratio (AJA) increases as the 0.8 power of the
dimensionless load ( p / H ) up to values of p/H of the order of 0.1 (see Fig.
11.15).
(ii) The dimensionless separation (h/o~) decreases proportionally to the
increase of the logarithm of the dimensionless load ( p / H ) (see Fig. 11.16).
Since the assumptions on the roughness of the surfaces and their mechanical
behavior are different, the relationships involving area of contact, load and
separation derived from the models described earlier are also different and,
in some cases, difficult to compare. However, comparing the theoretical predic-
tions of those models with the experimental results presented above, some
broad conclusions can be drawn. We summarize them as follows:
On the mode of deformation of metal surfaces.
(i) The essential factors affecting the mode of deformation of a rough
surface are the material properties (E\ H} and the surface finish. The normal
load is expected to have little effect on the mode of deformation of the surface.
(ii) For most engineering materials and surface finishes the initial contact
of the surfaces is expected to be plastic even at light loads.
326 CHAPTER 11
FIG. 11.15. Bearing area ratio vs. dimensionless load. Least squares straight line obtained on the
basis of the experimental results of 6 different papers by various authors. From K. L. Woo and
T. R. Thomas [1], Wear. Copyright 1980 Webb Publishing Co.
FIG. 11.16. Dimensionless separation vs. dimensionless load. Regression line obtained on the basis
)f the experimental results of 1 different papers by various authors. From K. L. Woo and T. R.
fhomas [1], Wear. Copyright 1980 Webb Publishing Co.
NONCLASSICAL FRICTION LAWS 327
(vii) For light loads, because of (iv), the normal load is closely proportional
to a power, in the range 1/0.5 to 1/0.3, of the penetrating approach.
(viii) For the same normal load the stiffness during the first loading is
smaller than the stiffness during unloading or reloading, due to the plastic
deformation which occurs during the first loading.
On the real area of contact.
(ix) Most of the statistical models developed predict, for both elastic and
plastic contact, an exact or an approximate proportionality between real area
of contact and normal load.
(x) Experimental results show that, often, the real area of contact increases
with a power of the normal load which is slightly smaller than one, even for
light loads.
A definitive precise conclusion seems difficult due to the absence of a really
satisfactory method for the experimental determination of the real area of
contact—a fundamental difficulty pointed out by Tabor [2].
11.4.2. Interface models. The interface between contacting bodies is a
hypothetical medium of vanishing thickness, the mechanical response of which
depends upon the various geometrical and physical properties of the surfaces
in contact as discussed earlier. For the class of problems addressed here, we
wish to characterize the response of such an interface to normal deformations
in a way that is consistent with the experimental and statistical theoretic results
summarized previously.
First, the notion of a contact surface Yc is worthy of some elaboration. This
surface should represent the boundary of the parent bulk material 28 of which
the body is composed; see Fig. 11.17. One can regard it as parallel to a surface
marking average surface heights. We suppose that Fc has a well defined
exterior normal vector n and that the actual interface (asperities, oxide film,
gas, work hardened material, etc.) is initially of thickness t0, as shown. The
initial gap between Fc and the other body that may come in contact with 3ft
is defined as the distance, measured along a line normal to Fc, between the
highest asperities of the bodies in the reference configuration. The interface
thickness after deformation is denoted t in Fig. 11.17 and the actual displace-
ment of Fc in the direction of n is un = u • n. Thus, the approach of the material
contact surfaces is
FIG. 11.17. Initial gap, normal displacement and penetrating approach at the contact surface Fc.
Reprinted with permission from J. T. Oden and J. A. C. Martins [1], Computing Methods in
Applied Mechanical Engineering. Copyright 1985 Elsevier Science Publishers.
large body of evidence points to a power law relation between <rn ( = N/unit
area) and a:
FIG. 11.18. Normal force vs. approach relationship suggested by experimental and statistical
theoretic results. Portion A, "light" normal loads characteristic of sliding interfaces. Portion B,
"heavy" normal loads characteristic of fixed interfaces.
[1]. A more detailed study of these types of normal contact models for dynamic
friction problems is given in Chapter 13.
11.4.3. Nonlocal static friction models for high normal loads. Based on the
experimental and theoretical results summarized earlier in this section, it
appears that a power law type normal compliance relation of the type indicated
in (11.4) and Fig. 11.18 is appropriate when 1) the constitution of the material
interface is more or less stable and 2) the response is essentially elastic (meaning
that physical experiments on interface properties are reproducible for given
specimens). When higher normal stresses are developed, significant plastic
deformation of asperities can take place and some other type of local friction
law would seem to be called for.
One possibility is to characterize the behavior of normal and tangential
stresses on Fc by using nonlocal friction laws. Oden and Pires [1] put forth
some arguments for nonlocal friction laws for certain cases of static behavior
of metallic interfaces with high normal stresses. Following these arguments,
consider the simple physical models shown in Fig. 11.19. In Fig. 11.19 a thin
weightless strip A of length 21 is pressed against a fixed elastic block B by a
330 CHAPTER 11
FIG. 11.19. (a) A thin strip A pressed onto an elastic block B with surface asperities, (b) The shear
stress distribution at the point of impending motion.
where 8 is the Dirac delta corresponding to the point source at the origin. Of
course, the relation is merely the symbolic representation of the distribution
Here 2(-1,1) denotes the space of test functions, i.e., the space of infinitely
differentiable functions with compact support in the interval (-/,/) and (•, •)
duality pairing on distributions and test functions. Alternatively, 5 can be
defined as the limit of a 8-sequence, {wp}0<p, <op € 2(-/,/):
We see that the classical pointwise version of Coulomb's law must be inter-
preted in the sense of distributions for this situation.
For illustration purposes we shall choose here the sequence of smooth test
functions which assumes nonzero values only within an interval of radius p
of the origin given by
where c is a constant chosen so that J'_, cop dx = 1 (see Fig. 11.19(b)). Then the
(Dp are positive-valued, infinitely differentiable functions symmetric with
respect to the origin, and the supports of these functions reduce to zero as
p -> 0. Additional details on properties of such test functions can be found in
Oden and Reddy [1, Chapter 2].
A more realistic model of friction from the physical point of view is obtained
if we take into account the microscopic aspects of the physics of friction
described earlier. Specifically, the contact surface of the body 08 will present
asperities deviating from a smooth plane. As the normal force N is gradually
applied, these asperities are gradually deformed and broken down until equili-
brium of normal forces is reached. The normal force reaching body 58 through
the strip A must then be distributed over the contact area of the deformed
asperity as indicated in Fig. 11.19. We shall now assume that the asperity's
finite transmission area is accounted for by using the 5-sequence {wp} of (11.8)
keeping p = p0, p0 being the radius of the contact area of the deformed asperity.
Since N = N(x) is now a function, we have, instead of (11.7),
332 CHAPTER 11
where * denotes the convolution of the two functions. Thus, we have arrived
at a friction law in which impending motion occurs at a point x on the contact
surface when the shear stress at that point reaches a value proportional to the
weighted average of the normal stress in a neighborhood of the point. If a)^
is used to characterize this weighting function, then the neighborhood is a
circular disc of radius p0 centered at x, the maximum weight is given to the
stress intensity at the center of the disc (the contact area of the deformed
asperity), and exponentially decreasing weights are assigned to stress intensities
as one moves from the center of the neighborhood outward to the periphery
of the disc.
We can now generalize these results to the three-dimensional case: let ur
denote the relative tangential component of displacement of a point x =
(x 1 ,x 2 ,x 3 ) on the contact surface between two deformable bodies and let
crn(u) and crrCu) denote the normal and tangential stresses on the contact
surface corresponding to the displacement field u. Then
where x and y are points on the contact surface Fc, dy = dyl dy2 dy3 and
Several other models have been proposed with the same purpose of simulat-
ing the roughness of the contacting surfaces. These models assume that the
contact surface is covered with a large number of asperities of prescribed
shape, their scale being small when compared with the bulk scale of the bodies
themselves; their effect is also to "smooth out" the discontinuous contact
pressure into a continuous one. These theories usually start from some statis-
tical model of a nominally "flat" rough surface; i.e., the asperities are assumed
to be scattered over a reference plane, their heights following some statistical
distribution such as exponential or (normal) Gaussian distribution. The tops
of the asperities are assumed to be spherical in shape, all with the same radius
and deforming elastically and independently according to Hertz's theory. As
examples of such models we mention here the works of Greenwood and
Williamson [1], Greenwood [1], Greenwood and Tripp [1], Lo [1], Nayak
[1], and Johnson [3]. Figure 11.20 shows a comparison of pressure distributions
obtained in this way by Greenwood [1] with the Hertzian theory for the contact
of two elastic spheres. It is seen that the "real" contact area extends beyond
NONCLASSICAL FRICTION LAWS 333
FIG. 11.20. Comparison between pressure distributions for the contact of two high loaded elastic
spheres. Hertzian, Greenwood's statistical distribution of heights of the surface asperities.
From J. A. Greenwood [1], Journal of Lubrication Technology. Copyright 1967 American Society
of Mechanical Engineers.
the Hertz contact surface, and the pressures are spread out more smoothly,
whereas the Hertzian pressures fall sharply to zero. This fringe around the
Hertzian contact is fully consistent with experimental evidence on friction (see
Fig. 11.20).
Finally, we mention that nonlocal theories for other classes of problems in
solid and fluid mechanics have been put forth by Eringen and Edelen [1]; a
detailed account of this work can be found in Edelen [1].
Model of nonlinear friction. Both Coulomb's law and the nonlocal law given
in (11.10) depict perfect rigid adhesion-sliding conditions on the contact
surface: they assert that there is absolutely no motion of points of one body
relative to those of another if the tangential stress on the contact surface
remains below some critical value r; but when this limit is reached, unbounded
motions can occur, the ensuing tangential displacement being directed opposite
to the tangential stress vector. It was pointed out in § 11.3 that physical
experiments on contact indicate that there is always some small relative
tangential displacement even when the tangential force developed on the
contact surface is small (recall Figs. 11.4 and 11.6). If this force is steadily
increased, a value is reached at which the junctions yield elastoplastically or,
in the case of weak junctions (Fig. 11.7(b)), actually fracture and sliding
occurs. At this point the resistance of the junctions to tangential motions is
greatly reduced and approaches zero.
We introduce here a family of nonlinear friction laws which captures these
tangential compliance effects and simultaneously leads to a generalization of
Coulomb's law and of the nonlocal law proposed in (11.10). They have the
form:
334 CHAPTER 11
On the other hand, if we allow e -»0 for a given positive p we recover the
perfect rigid adhesion-sliding nonlocal law given in (11.10). Finally, if both
e -> 0 and p -»• 0 the static Coulomb's law (local) for unilateral contact in the
contact surface Fc is obtained:
11.5. Signorini problems with nonlocal nonlinear friction. The classical Sig-
norini problem of elasticity concerns the analysis of deformations of a linearly
elastic body in contact with a rigid frictionless foundation. We examine here
a generalization of Signorini's problem to the case in which friction exists on
the contact surface, and this friction is characterized by the nonlocal nonlinear
laws introduced in the previous section. To do this, we shall recall the formula-
tion in Chapter 10 (10.1) for the Coulomb friction problem. In the present
case the condition (lO.lb) has to be replaced by
where
and (i)p and <£e are given, respectively, by (11.8) and (11.14).
We shall assume throughout this chapter that conditions (5.5) and (10.3)
hold on the material constants and the domain of the body. In particular, if
336 CHAPTER 11
and the virtual work by the friction force jp,e(u, v) is now defined by the
nonlinear form,
where
NONCLASSICAL FRICTION LAWS 337
THEOREM 11.1. Let conditions (5.5) and (10.3) hold and reL 2 (r c ), r > 0
a.e. on Yc be the data present in (11.24). Let mes (F D )>0. Then
(i) There exists a unique solution u T e K to (11.24).
(ii) The correspondence that gives for each T the solution U T of (11.24) defines
a continuous nonlinear map B: L 2 (F C ) -*• K:
Hence,
But ft E L2(O). Hence crv(u)tj e L2(ft). i = 1,2, • • • , N. But from this fact it
follows that the trace crn(u) = ir^n((r(u)) is a well defined functional in Q'.
(iv) From (iii) it follows that if U T is any solution of (11.24), then the stresses
crj,-(uT) = £i;/fc/(uT)M satisfy the following Green's formula:
Since the sequence {rn} is weakly convergent it follows that \\Tn\\Q- is bounded.
Also,
If T has at least one fixed point if/*, then, since i//* = T(i//*) = S p (cr n (u lA *)), it
follows that u(/,* = B(i/f*) is a solution of (11.21). Therefore, the questions of
the existence of solutions to (11.21) reduces to the determination of the
existence of fixed points of T.
Towards this purpose we first show the existence of fixed points for the
composition T:Q'-* Q', T = crn ° B ° Sp, and then conclude that if T* is a fixed
point of f, i.e., if T* = T(T*) then there exists iff* e L2(TC) such that T( $*) = i[t*.
Let bR c Q' denote the ball
where R is a sufficiently large real number such that jR < c 2 (M/ m \\f\\ * + c3||f ||0),
and consider the map
A
We shall show that Rg (T)ci bR, that bR is weakly sequentially compact, and
that T is completely continuous and, therefore, weakly sequentially continuous.
It will then follow immediately from Lemma 11.2 that T has at least one fixed
point.
340 CHAPTER 11
Let r = Sp(<£) — 0 for some <f>tbR and consider the variational inequality
11.24. By Theorem 11.1 there exists a unique solution u^ = B(T) = B(Sp((j>))
to (11.24). Setting v = 0 in (11.24) yields
i.e.,
V ••" »/
Hence,
Let <A* = Sp(r*). Then B(i/r*) = B(Sp(r*)) and tr n (B(^r*))= T(T*) = T*.
Therefore,
Hence there exists i/r*e L 2 (F C ) such that T(^*) = i//*, i.e., the composition T
also has at least one fixed point and, thus, there is at least one solution to
(11.21).
The use of the Schauder-Tykhonov theorem was made possible by the
properties, listed in Theorem 11.2 that the smoothing operator Sp given in
(11.11) satisfies. That is, Sp must be such that T (or actually, the equivalent
operator T) is weakly continuous. As a consequence, we notice that the fixed
point theorem cannot be used unless we introduce the nonlocal form to the friction
law by the mollification Sp. In other words, the arguments employed above in
the proof of existence do not apply in general to problems in which the classical
"pointwise version" of Coulomb's law is assumed to hold.
In fact, except for very special cases (e.g., Necas, Jarusek and Haslinger
[1]) the question of existence of solutions to the general problem considered
in Chapter 10 of the Signorini problem with Coulomb's law is still open.
The same conclusion can be applied to the nonlinear local case (Case I).
The case e = 0 (Case II of the previous section) being nonlocal does not fall
into this category.
Finally, for a certain special case, uniqueness of the solution to the variational
inequality (11.21) can be proved. We then have the result:
THEOREM 11.4. Let the conditions in Theorem 11.3 hold. Then, for a sufficiently
small coefficient of friction v, (11.21) possesses a unique solution.
Proof. Let r t and r2 be two distinct nonnegative functions in L 2 (F C ) and u t
and u2 the corresponding solutions of (11.21) and consider Green's formula
(11.29). Then we have, for every ve V and v r = 0 on F c ,
Subtracting, we obtain
342 CHAPTER 11
Hence,
where
If T! = vgi, T2 = vg2 with gj, g2 e L2(rc), gl, g2 > 0 a.e. on rc, and the coefficient
of friction v e L°°(rc), then
where r(g) = T(vg). It follows that for sufficiently small |HlL°°(rc), i-e., for v
such that
the map T is a contraction mapping and, therefore, has a unique fixed point.
We have thus established the existence of a solution to a nonlocal nonlinear
friction contact problem. As we mentioned uniqueness can be shown only for
sufficiently small friction coefficients v.
where Dc is the set of all nodal points on Fc, and P is the total number of
nodes in ftfc. We shall assume the interpolation property described in §4.2
holds; more specifically, (10.28) and (10.29) are assumed to hold for v h e K h
and the conditions of Falk's theorem, Theorem 4.3, are in force.
We introduce as the finite element approximation of (11.21) the following
discrete problem:
Proof. Applying precisely the same procedure used to prove Theorem 4.4,
we establish that for every ve K and v h € Kh we have
Using the assumption (5.5) with m e s r D > 0 and the fact that Au-/£H, we
obtain the following estimate for positive constants m and M:
Noting that
344 CHAPTER 11
But
and
Hence we have from (11.40), collecting the results obtained in Step 3 and
assuming that (11.31) holds,
It remains to estimate the last term of the right-hand side in (11.43). Making
use of the trace theorem, we obtain
where Sp is the stress mollifier and o-hn(nh) is the normal stress due to u/,:
We employ the 4-point Gauss quadrature rule for calculation of the mol-
lification of normal pressures in all subsequent computations.
The algorithm consists of the following steps:
1) Initialize rh: T(h0) = nodal forces required to maintain equilibrium; ( T/,O) = 0
when the problem has at least two mutually orthogonal axes of symmetry in
the plane; TJ,O) ^ 0 otherwise).
2) Solve the standard Signorini problem with prescribed limiting tangential
stresses VTJ,O) on the contact surface, for u/,0 using the exterior penalty to relax
the unilateral contact condition (the case T/,O) = 0 represents a problem without
friction):
or in general,
NONCLASSICAL FRICTION LAWS 347
3) Compute
4) Compute
6) Use r(h} as data in problem (11.48) and evaluate a new corrected displace-
ment field ui,2) from (11.48) (with r = 2).
7) Let TOL denote a preassigned tolerance that we set for some measure
of the difference between successive smoothed contact pressures and check if
When this criterion is satisfied, we terminate the process and plot deformed
configuration of the mesh, stress distributions, contact stresses, etc.
A flow chart summarizing this procedure is given in Fig. 11.21.
We shall describe the results of several numerical experiments performed
with the algorithm discussed above.
Example 11.1. This is concerned with the indentation of an elastic half-space
by a rigid cylindrical punch. The problem is one of plane strain. Young's
modulus, Poisson's ratio, and the coefficient of friction were taken equal to
1,000 (nondimensional units), 0.3, and 0.6, respectively. Taking advantage of
the symmetry of the problem, the right half-space was discretized by 40
nine-node quadrilateral isoparametric elements, as shown in Fig. 11.22(a) for
a prescribed indentation d = 0.6, and values of the parameters p, e, and 8,
respectively, equal to 0.1, 10~4, and 10~8. Figure 11.22(b) shows the deformed
configuration of the half-space. The computed contact stresses (normal and
tangential) are indicated in Fig. 11.22(c) as well as the Hertzian distribution
of contact pressures calculated from the expressions given in Lubkin [1] for
the frictionless contact of two long cylinders along a generator. Convergence
was obtained after 5 iterations.
A refinement of the mesh near the separation point between the portion of
the contact area where the stick condition holds and that where slipping occurs
was needed for the computation of the tangential stresses. According to our
nonlocal nonlinear law, sliding takes place when <r r | = vSp(o-n). Consequently,
sliding will begin at the point A (Fig. 11.22(c)) of the contact boundary where
the value of \<TT\ is 0.6 S p (cr n ). The portion AB of the contact boundary OB
is in sliding and the part CB of the tangential stress is equal to 0.6 times the
corresponding part of the mollified normal pressure distribution. We also
observe that the tangential friction stresses do not reach a sharp peak, but are
smooth at the point of maximum transverse shear stress. The size of this
348 CHAPTER 11
FIG. 11.22(a). Finite element mesh for the problem of indentation of an elastic block by a rigid
cylinder. Reprinted with permission from L. T. Campos, J. T. Oden, and N. Kikuchi [1], Computer
Methods in Applied Mechanics and Engineering. Copyright 1982 Elsevier Science Publishers.
FIG. 11.22(b). Computed deformed mesh. Reprinted with permission from L. T. Campos, J. T.
Oden, and N. Kikuchi [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1982 Elsevier Science Publishers.
350 CHAPTER 11
FIG. 11.22(c). Normal and tangential stress profiles on the contact surface.
times larger, i.e., equal to 105. The rectangular mesh of 52 C?2-elements was
rearranged and is shown in Fig. 11.24(a). The computed deformed shape is
shown in Fig. 11.24(b) and the stress profiles in Fig. 11.24(c).
We notice, as expected, that the vertical strips, being stiffer, support much
of the contacting stresses (see Fig. (11.24(c)) and that at the periphery of the
contact area both the regularized normal and tangential stresses attain a finite
value dropping to zero at a small distance (a function of the parameter p)
from the edge of the square punch.
Convergence was obtained after 5 iterations.
Example 11.4. We examine the problem considered in the experiment of
Bremond and Durelli [1]. This experiment is concerned with the indentation
of a plate with dimensions 12 x 100 x 120 mm by a rigid cylindrical punch with
a diameter of 40 mm. The plate was made of polyurethane rubber (photoflex),
and the punch was made of plexiglass. We only consider the cases of applied
normal loads of 200 N and 110 N, the measured depth of indentation at the
center of the contact being 3 mm and 1.3 mm for these loads, respectively. The
rectangular mesh of 4-node isoparametric elements used to discretize the model
is shown in Fig. 11.25(a).
NONCLASSICAL FRICTION LAWS 353
FIG. 11.24(b). Computed deformed geometry. Reprinted with permission from E. B. Pires and
J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1983 Elsevier
Science Publishers.
354 CHAPTER 11
FIG. 11.24(c). Normal and tangential stresses on the contact surface. Reprinted with permission
from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1983 Elsevier Science Publishers.
FIG. 11.25(a). Rectangular mesh used to discretize the model ofBremond and Durelli. Reprinted
with permission from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and
Engineering. Copyright 1983 Elsevier Science Publishers.
NONCLASSICAL FRICTION LAWS 355
The results computed for different values of the data are compared with the
experimental results in Figs. 11.25(b), (c). A very good agreement was obtained
for the normal components of displacement on the contact area (vertical
displacements v). We also notice that a good qualitative agreement was reached
for the tangential stresses on the contact surface. Both computed and experi-
mental tangential stresses behave smoothly; no sharp peak is developed
separating the areas of sticking and sliding as we would expect to observe had
Coulomb's law (p = 0) been used instead, see Example 10.4. In our opinion a
better correlation would have been obtained if it were not for several difficulties
we encountered in modeling the experiment. To list only some of them, we
note that for a Young's modulus of 300 N/cm 2 and for prescribed depths of
FIG. 11.25(b). Comparison between computed and experimental results. Reprinted with permission
from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1983 Elsevier Science Publishers.
356 CHAPTER 11
FIG. 11.25(c). Comparison between computed and experimental results. Reprinted with permission
from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1983 Elsevier Science Publishers.
FIG. 11.26. Load (Li unload®, and reload (R) parts ofthe friction law considered for quasi-static
problems. Reprinted with permission from E. B. Pires and J. T. Oden [1], Computer Methods in
Applied Mechanics and Engineering. Copyright 1983 Elsevier Science Publishers.
Hence setting
and considering the different forms the friction law y can take, we obtain the
following variational principles in an incremental form.
(i) Loading case.
360 CHAPTER 11
Some remarks concerning friction problems for which load histories are
taken into account and the variational principles that we have formally just
derived are now in order. We discuss a general class of dynamic friction
problems in Chapter 13 which employs the interface model suggested by (11.4).
Existence results for such elastodynamics problems with friction were
developed by Martins and Oden [2]; their results extended the results of
Duvaut and Lions [1] on problems of elastodynamics with prescribed normal
pressures. In Chapter 12, we describe a significantly more general incremental
process applicable to contact problems in metal forming processes with large
elastoplastic deformations and friction. Kalker [2] derived, for quasi-static
problems, an incremental form of the variational principle corresponding to
the problem with prescribed normal pressures on Fc. A first extension of the
analysis of Mindlin [1] to take into account the effects of an oscillating
tangential force on the contact surfaces of two elastic spheres was considered
by Mindlin, Mason, Osmer and Deresiewicz [1]. By keeping the normal force
N pressing the two spheres together constant and allowing the tangential force
T to oscillate between the peak values ± T* (T* < vN), Mindlin et al. [1] were
able to establish a relation between tangential force and displacement and
also an expression for the frictional energy loss W per cycle which has the
form (for small T*/ vN)
FIG. 11.27. Flow chart for quasi-static friction problems. Reprinted with permission from E. B.
Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1983 Elsevier Science Publishers.
NONCLASSICAL FRICTION LAWS 363
2) If (cr'f \ U'T*) lies on the loading part of the loop (see Fig. 11.28c), then
we compute (cr'T, u'r) using the law (11.55)i and check if e <|w'f'I and \u'rl >
|u'T|; if so, we need to re-evaluate (o-'T, M'T) by using the law (11.55)2.
3) If (cr'-f1, u ' r 1 ) lies on the unloading curve, we compute (a'T, u'T) using
(11.55)2 and check if reloading takes place, i.e., if o-'f ]| = s and the direction
is reversed; if so, (<r'r, M'T) is corrected according to law (11.55)3.
4) Finally, if (o-'f1, t/'f 1 ) lies on the reloading part, we compute (cr'T, M'T)
using (11.55)3 but if unloading takes place (cr'T, u'T) is corrected according to
law (11.55)2.
This procedure is described in the flow chart given in Fig. 11.27.
Example 11.5. Finally, we consider the application of the above algorithm
to problems involving oscillating applied tangential forces. Towards this pur-
pose the parabolic punch shown in Fig. 11.28(a) was examined. The resultant
T of the uniformly distributed normal tractions t was allowed to vary between
the values 40 and -40 (units offeree per unit length) as shown in Fig. 11.28(b).
The depth of indentation was kept constant and equal to 0.25. We notice that
unloading (and reloading) takes place only at nodes located at the periphery
of the contact segment (nodes 35, 40, 60, and 65 in Fig. 11.28(a)) while the
interior nodes never attained tangential displacements UT larger than the
value considered for the parameter e(0.01). The tangential stress-tangential
FIG. 11.28(b). Load history for parabolic punch problem. Reprinted with permission from E. B.
Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1983 Elsevier Science Publishers.
FlG. 11.28(c). Tangential stress-tangential displacement cycle on contact node 35. Reprinted with
permission from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and
Engineering. Copyright 1983 Elsevier Science Publishers.
NONCLASSICAL FRICTION LAWS 365
FIG. 11.28(d). Stress-displacement cycle on contact node 40. Reprinted with permission from
E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1983 Elsevier Science Publishers.
FIG. 11.28(e). Stress-displacement cycle on contact node 60. Reprinted with permission from
E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1983 Elsevier Science Publishers.
366 CHAPTER 11
FIG. 11.28(f). Stress-displacement cycle on contact node 65. Reprinted with permission from
E. B. Piresand J. T. Oden[l], Computer Methods in Applied Mechanics and Engineering. Copyright
1983 Elsevier Science Publishers.
displacement cycles for the contact nodes 35, 40, 60 and 65 are depicted,
respectively, in Figs. 11.28(c), (d), (e), (f).
The energy dissipation was computed at those nodes where slip occurred
(the nodes at the periphery of the contact segment) and its value was compared
with Mindlin's expression (11.61). In order to make this comparison possible,
the slope at the origin of Mindlin's tangential force-displacement curve (see
Mindlin et al. [1, eq. (4)]) was evaluated. This slope was used to compute a
measure of the stiffness of the junctions e so that the slopes at the origin of
the tangential stress-displacement curves would have, in average, the same
value. The energy loss computed from Mindlin's expression (11.62) for an
applied normal load of 220 (units of force per unit length) corresponding to
the indentation d = 0.25 was
The energy loss calculated by giving to e the value (0.032) obtained in the
way described above was 0.118 (units of force times units of length per unit
length).
We also considered another history of loading as shown in Fig. 11.28(g).
Our purpose is to emphasize that friction forces are nonconservative forces
NONCLASSICAL FRICTION LAWS 367
FIG. 11.28(g). (a) Stress-displacement cycle on contact node 60. (b) Load history. Reprinted with
permission from E. B. Pires and J. T. Oden [1], Computer Methods in Applied Mechanics and
Engineering. Copyright 1983 Elsevier Science Publishers.
3
Some progress in these areas has been made. We mention the works of Valent [1], Oden and
Nicolau [1], Oden and Reddy [1] and Campos and Oden [1]; but these works do not address
the contact problem.
369
370 CHAPTER 12
hyperelastic solids; i.e., materials for which a strain energy function exists
which can be expressed as a differentiable function of the principal invariants
of the deformation tensors. For definiteness, we give special attention to a
generalized Mooney-Rivlin material which is characterized by a strain energy
which is a linear function of I and II and quadratic in III, where I, II, III are
the principal invariants of the Cauchy-Green deformation tensor. We derive
incremental forms of the variational principles which allow us to apply variants
of the algorithms already developed in preceding chapters to problems of this
type.
The difficult questions of existence theory in finite elasticity is reviewed
briefly in § 12.4, where the necessary generalizations of the results in Chapter
3 are outlined.
Finally, we review the equations governing incremental, rate-independent,
elastoplasticity, and we derive corresponding variational formulations, finite
element approximations, and numerical solution schemes for contact problems
involving such materials. While this class of problems does represent a depar-
ture from our general theme of contact problems in elasticity, the methodologies
required do not represent a significant extension of those developed up to this
point. We conclude this portion of our study with descriptions of several
applications of our theory and methods to metal forming problems. These
represent very difficult types of contact problems in which we must cope with
complications due to friction effects, material nonlinearities, and geometric
nonlinearities.
at \ = (xl,x2, x3) and time t, where we now choose to use upper case Latin
indices to denote the material coordinates x/ and tensor quantities referred to
a Cartesian basis on the reference configuration. The right Cauchy-Green
deformation tensor is defined by
CONTACT PROBLEMS 371
so that
Indeed, let p0 and p denote the mass densities of the material in the reference
and deformed (i.e., the current) configurations respectively. Then the principle
of conservation of mass requires that
As will be shown later, the stress developed in such a material is zero in the
reference configuration whenever we take
The traction vector t0 on a material surface in the deformed body (the current
configuration)
The Cauchy stress tensor is symmetric, but T may not be as it satisfies the
relation
where t0 is defined by
where n is the unit vector outward and normal to the deformed surface. We
next introduce Nanson's formula,
yields
where J(\) = det (du+v^j). Then we need consider only displacements in the
effective domain of F: eff dom F = {ve V| |F(v)| < oo}.
As in Chapters 2-6, the principle of minimum potential energy asserts that
the body is in a state of stable, static equilibrium whenever the total potential
CONTACT PROBLEMS 375
To handle the unilateral constraint set, we can once again resort to the
method of Lagrange multipliers and introduce the Lagrangian,
Then the admissible set N for Lagrange multipliers becomes a convex set.
Stationary values of L are characterized by the system
where T(u) = T,j(u)ij(x)ij is the stress tensor due to the displacement u and N
is defined by
for every ve V. The first two terms obviously lead to the equilibrium equation
Noting that
and
Since
is obtained on the true contact area. This means that the Lagrange multiplier
a- corresponds to the contact pressure on the material surface Fc in the current
(deformed) configuration.
Remark 12.2.1. We shall refer to (12.38) as the Signorini problem for finite
elastic deformations. Obviously, it is equivalent, under the assumptions intro-
duced, to the variational problem (12.35). Note that if p0e L°°(ft) and (12.10)
holds, then
If the functions <f> and if/ are continuously differentiate in their arguments
on Fc, the contact conditions hold in the space
where
where
where VA and JVA are the admissible sets of the incremental displacement and
contact pressure respectively, and R(u) is the remainder defined by
so that cr + Acr satisfies the constraint cr + Acr<0 on FC- The admissible set
VA may be defined various ways. For example, if u = g on T°D then Au = 0 on
T^and VA = V.
In the above linearization, we implicitly assume that the traction t0 on TF
can be simply decomposed as t 0 +At. However, if the pressure type traction
which depends upon the solution itself is considered, the incremental form of
this term has to be modified. To this end, let us recall (12.31) and let us take
its increment:
Notingt
CONTACT PROBLEMS 379
we have
(12.55) At = -Ap/noF-1-^noF-1ei:/ke^F1./F^Auk,K+pyn0F-1V(Au)F-1.
Thus, the last two terms form an additional contribution to the left-hand side
of the linearized equation (12.49)i.
If we define
It is clear that the formulation (12.57) has exactly the same form as the problem
for linearly elastic materials. Thus the studies on linear elasticity are applicable
to investigate properties of the incremental solution Au to (12.57).
Furthermore, if the method of perturbed Lagrangians is applied to the
linearized formulation (12.57), a linearized penalty formulation can be
obtained. Indeed, for a small positive constant E > 0 the linearized saddle
point problem (12.57) is approximated by the perturbed one:
instead of (12.32). Stationary values of L are points (u, p, a-) satisfying the
system,
It is also noted that the applied force is the pressure to the surface. Thus,
the At in the linearized formulation must be identified with the expression
(12.55).
For the initial geometry shown in Fig. 12.1 (a) the computed deformed shell
is shown in Fig. 12.1(b) for different pressure levels.
12.4. Existence theorems in finite elasticity. In this section, we shall establish
conditions sufficient to guarantee the existence of solutions to nonconvex
where </> and if/ are the smooth functions defining the unilateral contact
conditions discussed in the preceding section. Our equilibrium prqblem is then
where
Here W is the strain energy per unit of mass in the reference configuration,
Vv is the displacement gradient ((Vu)^ = dvt/dxj, W(V\) = W(l(v), II(v),
III(v))), and 7(v) = detF = det(l + Vv).
Our approach to the question of existence of solutions to (12.64) is to apply
Theorem 3.1, the generalized Weierstrass theorem, which for our present
purposes can be stated as simply as follows:
IfF:K->R is a proper, coercive, weakly lower semicontinuous functional defined
on a nonempty sequentially weakly closed subset K o f a reflexive Banach space,
then F is bounded below on K and attains its minimum on K.
Consequently, there are two main issues concerning the existence of
minimizers to (12.64), the sequentially weak closedness of the set of
admissible motions K and the lower semicontinuity and coerciveness of the
energy functional F.
The functional F is, in general, nonconvex. Thus, some generalizations of
the methods discussed earlier are needed. We begin with a simple but funda-
mental theorem (cf. Oden [6]).
THEOREM 12.1. Let U and V be normed linear spaces, K be a subset of V,
and let the following hold:
(i) K is weakly sequentially closed.
(ii) There exists an operator B: K -> U which is weakly sequentially continuous
(i.e. if (um}<^ V converges weakly to u, then B(um) converges weakly to B(u)
in U).
(iii) There exists a functional G: M -* R, M being a subset of the range Rg(B)
of B, which is convex and which possesses a Gateaux derivative DyG(v)e U*
at every u e M.
Then the composition
The proof of this important assertion follows from two important lemmas, the
first result, due to Ball [1, p. 369] and another result of Reshetnyak [1, Thm.
2; 2, Thm. 4] (see also Ball [1, p. 372]):
LEMMA 12.1. (i) Let n = 1. Then if we (W 1>2 (a))", detVweL'Cft) and
detVw = |e,>.fce^Vaw^W(fcy holds in 2)'(fl).
(ii) Let w = 3. Then i/we (W 1>2 (ft))", adj Vwe (L ! (a))" 2 and (adjVw)f =
\eijkea^wj^y = ^eijkea^wjwky^ holds in ©'(«)•
(iii) Let n = 3. Then if we ( W l ' p ( f l ) ) n and adj Vwe (L P '(O))" 2 , detVwe
L'(ft) and (2.5) holds in 2>'(ft), (l/p + \/p'= 1, p>2).
LEMMA 12.2. (i) Let n = 2. Then i f p > 2 the map w^det Vw: (W 1 > p (ft)) n -»•
(L P/2 (O))" is sequentially weakly continuous.
(ii) Let n = 3. Then i f p > 2 the map w ^ a d j Vw:( W 1/p (O))"(L p/2 (a))" 2 is
sequentially weakly continuous.
(iii) Lef n = 3. 7?je« i / p > 3 the map w^det Vw:( W 1>p (n))"^ L P/3 (H) w
sequentially weakly continuous.
An immediate result of these lemmas is the following:
THEOREM 12.2. Let K fee defined in (12.34) and for n = l,2, or 3, /ef safw/
conditions in Lemmas 12.1 or 12.2. Then K is weakly sequentially closed.
It might at first seem that the restriction on p is too severe to accommodate
certain classes of materials commonly used in nonlinear elastostatics. This is
not the case for we can always redefine K and problem (12.64) accordingly.
384 CHAPTER 12
It is clear from Theorem 12.1 and these results that whenever the conditions
on p and n given in Lemma 12.2 hold, then any convex and differentiable
functional of the three weakly sequentially continuous functions of (12.4) (or
(12.67)) will be weakly sequentially lower semicontinuous. This led Ball [1]
to introduce the idea of poly convexity: A function w:M-»IR (M = IR 3 xR 3 ) is
polyconvex if and only if it is expressible in the form
and if F is proper, then there exists at least one solution to the nonconvex
minimization problem (12.64).
We can now apply these results to the special case considered in § 12.1.
THEOREM 12.4. Let the strain energy function Wbe given by (12.10) with C,,
C2, C3 positive constants. Then there exists at least one solution of the minimi-
zation problem (12.64).
Proof In this case, n = 3, p = 6, so I(v), II(v), /(v) are weakly sequentially
continuous by Lemma 12.2, and K of (12.31) is weakly sequentially closed.
For these choices of signs of the material constants, W is polyconvex. Hence,
F is weakly sequentially lower semicontinuous. Also, |F(0)|«x> establishes
that F is also proper.
The proof of coerciveness of F is less direct. For this purpose, we introduce
a product space and a new functional,
4
The requirement of differentiability can be weakened; in general, only continuity of W in
each argument is needed.
CONTACT PROBLEMS 385
The product space is a Banach space when equipped with the norm (p ^2)
and W is given as a function of only I, II. We need only add to the definition
(12.63) of the constraint set K the requirement det(l + Vv) = l a.e. in O0.
But K is then still weakly sequentially closed for appropriate n and p by
Lemma 12.1.
Many of the derivations and numerical examples discussed here are taken
from Cheng [1] and Cheng and Kikuchi [1]. Similar contact problems related
to metal forming analysis have been solved by e.g. Lee and Kobayashi [1],
Nayak and Zienkiewicz [1], Oh and Kobayashi [1], Hibbitt, Marcal and Rice
[1], Key, Krieg and Bathe [1], Fredriksson [1] and others.
Elastoplasticity for large deformations. We shall first obtain an incremental
elastoplastic formulation for large deformations without considering unilateral
contact conditions. To do this, we shall follow the derivation described in
McMeeking and Rice [1] in which the rate form of the first Piola-Kirchhoff
stress T is used to define rate formulations of the theory of Hill [1]. The
condition for continuing equilibrium in incremental formulations is based
upon a rate form of virtual work equation, e.g.,
Noting that
we have
Thus, the rate form of the virtual work principle (12.77) becomes
Here A and G are the first and second Lame constants and eetj is the rate of
deformation due to elastic deformations. If we define by e^ the rate of
deformation due to plastic deformations, then the relation
holds.
The Mises yield condition is defined by the yield function
where J'2 = 0-^0-^/2, 0-^ = 0-^-8^0-^/3, and k depends on the strain history.
Using the flow rule
388 CHAPTER 12
can be obtained as the slope of the curve of the true stress versus the logarithmic
plastic strain in a simple tension test on a uniform bar. Introducing (12.91)
and (12.92) into (12.90) for the Mises criterion (12.89), we obtain the incre-
mental constitutive equation
where
and a = V37£ is the effective stress. The last term of (12.94) has to be omitted
when
where DijM is defined by the same form (12.94) except that H' has to be
replaced by H' defined by
and the increments Au, Af, and At are defined by Au = )>Af, Af = fAf, and
At = tAf, respectively. It is noted that the constitutive equation (12.95) is applied
here.
We have only considered the problem of large deformation elastoplasticity
without including any of the contact conditions on the boundary. We shall
take up this problem in two steps, first the normal contact model and then a
tangential one.
Contact conditions in the normal direction. Suppose that an elastoplastic body
is located below of a rigid surface represented by a parametric equation
as discussed in § 2.1. If the surface of the body below the rigid surface is given
by
as shown in (2.17) where N is the unit vector inward normal to the rigid surface
and is defined by
390 CHAPTER 12
and
where Fc is the possible surface of contact with the rigid surface at the current
configuration.
Contact conditions in the tangential direction. The next consideration is the
development of an incremental form of a friction law which is similar to the
one studied in the previous two chapters. In particular, the incremental friction
law derived here contains (11.55) as a special case. We shall use a generalized
Coulomb sliding criterion characterized by the condition
where the traction vector a is decomposed into tangential and normal com-
ponents according to oi = oir + crjVN, and VF is the friction coefficient. I f / < 0
at a point P on Fc, the material P sticks to the surface Fc. If /= 0 at P, there
are two possibilities: continuing sliding and unloading sticking.
Following the theory of plasticity, let us assume that the sliding rule
holds for a positive function A, where Au£ is the increment of the tangential
displacement Au T due to sliding. Here we have assumed that Au r can be
decomposed into
where A*aT and A*crN are co-rotational "increments" of the traction vector
in the tangential and normal direction, respectively. It is noted that the
co-rotational rate of the traction t is defined by
where T( is defined by
(continuing sliding),
(unloading sticking).
The above formulation of friction laws is based upon the works by Seguchi,
Shindo, Tomita, and Sunohara [1], Fredriksson [1] and Michalowski and
Mroz [1] in which analogous approaches are taken but which employ a
"constant" normal stress crN. In the present formulation, however, we have
taken into account the variation in the contact pressure aN, our results indicate
that this is a very essential factor in the analysis of most metal forming processes.
Signorini' s problem with friction. Let us reformulate Signorini's problem with
friction for large deformation elastoplasticity using the incremental formula-
tions described above. Let K be the set of admissible increments of displace-
ments defined by
where
and
If we define
and
FIG. 12.2(a). Two initial setups for a plane strain indentation problem for a cylindrical rigid punch.
From J. H. Cheng and N. Kikuchi [1], Computing Methods in Applied Mechanics and Engineering.
Copyright 1985 American Society of Applied Engineers.
FIG. 12.2(b). Deformed meshes at 0.4cm plane strain indentation by a rigid punch (R = 0.8 cm)
on an elastoplastic slab with E = 10Gpa, i> = 0.3, 5^ = 0.1 Gpa, and a = 0.1-f 0.05(e-0.01) Gpa.
From J. H. Cheng and N. Kikuchi [1], Computing Methods in Applied Mechanics and Engineering.
Copyright 1985 American Society of Applied Engineers.
CONTACT PROBLEMS 395
Allowing plastic deformations, the problem is solved for vp = 0.3 with the
material yield strength Sy -100 Mpa, and the post-yield behavior described
by <r = 100 + 50ep Mpa. Figure 12.2(b) shows the final deformed meshes after
0.4 cm of indentation from the initial configuration. Very different stress distri-
butions from elastic deformation are observed since significant plastic strains
are involved. In all computations, a reference increment is chosen to be
0.005 cm which may be altered by three criteria: the Mises yield condition,
the kinematic contact condition in the normal direction, and the turning point
of the sticking-sliding condition. The resultant contact stresses are exhibited
in Fig. 12.2(c) in which all the stress values are normalized by P0 (=1.7645^),
an analytical value at the threshold of plasticity due to Hertz. With the same
total number of contact points in this instance, the maximum contact pressure
is higher (smaller contact area) when frictional effects are included. It is seen
that the distribution of contact pressure is not as smooth as in the linear
elasticity case (Fig. 12.2(d)). A possible explanation of this oscillatory result
is again attributed to the requirement of vanishing volumetric plastic strain-
increment Aefj in the plasticity theory as has been explained in the last section.
This observation can again be confirmed when we solve the same problem
with a high work-hardening material (ff' = 500Mpa) which allows larger
components of elastic strain increment in the plastic region. The results are
FIG. I2.2(c). Contact stresses (normalized by FIG. 12.2(d). Comparison of contact pressure
P0= 17.64 Mpa) of indentation tests on an elas- for elastic and plastic indentations (i/F = 0).
toplastic slab. From J. H. Cheng and N. Kikuchi From J. H. Cheng and N. Kikuchi [1], Comput-
[1], Computing Methods in Applied Mechanics ing Methods in Applied Mechanics and Engineer-
and Engineering. Copyright 1985 American ing. Copyright 1985 American Society of
Society of Applied Engineers. Applied Engineers.
396 CHAPTER 12
FIG. 12.2(e). Comparison of contact pressure FIG. 12.2(f). Comparison of maximum contact
for two plastic loading paths (frictionless). From pressure vs. contact area for elastic and plastic
J. H. Cheng and N. Kikuchi [1], Computing indentations. From J. H. Cheng and N. Kikuchi
Methods in Applied Mechanics and Engineering. [I], Computing Methods in Applied Mechanics
Copyright 1985 American Society of Applied and Engineering. Copyright 1985 American
Engineers. Society of Applied Engineers.
FIG. 12.3(a). An axisymmetric extrusion process through a convergent die, upper half for a frictionless
case, lower half for VF = 0.1 on the die wall and VF = 0.02 on the punch.
of the contact pressure distributions along the wall at 15.24 cm (6 in) of punch
stroke. For the frictional case, since all the points are sliding, the magnitudes
of the tangential force are simply one-tenth of the values obtained from this
figure.
398 CHAPTER 12
FIG. 12.3(b). Contact pressures (normalized bySy = 3l Mpa) along the die wall of a convergent-die
extrusion process at 15.24cm (6 in) of punch stroke.
FIG. 12.4(a). An axisymmetric direct extrusion process, upper half for the frictionless case, lower
half with a constant coefficient of friction, VF = 0.1 on all the contact surfaces.
at the later stage of the process, very stiff shear stiffness of finite elements can
be expected. This also results in a very steep slope of a curve depicting the
relationship between the total ram force and the die displacement as compared
with the frictionless case.
The computed contact pressures for both cases at two ram displacements
are given in Fig. 12.4(b). They show similar shapes and essentially the same
400 CHAPTER 12
FIG. 12.4(b). Contact pressure (normalized by Sy - 31 Mpa) distributions along the die wall in a
direct extrusion process.
end pressures but very different peak values, which occur in the midst of the
throat.
Example 12.5 (head forming process). In this example, let us consider a head
forming problem with an initial configuration and material properties shown
in Fig. 12.5(a). The same problem has been solved by Argyris et al. [1] using
both a viscoplastic flow model and an updated Lagrangian model with Newton-
Raphson corrections, and by Kobayashi [1] using a rigid-plastic approach.
The analysis is carried out under a reference displacement increment of 0.25
percent of the initial height. Deformed configurations at various stages are
displayed in Fig. 12.5(b) together with the contour lines of the effective stress
<j. Localized plastic deformations in the core of the head grow into two shearing
bands in the upper and lower parts of the head. Figure 12.5(c) shows the
variation of the applied load evaluated from element stresses under the punch.
The slight disturbance at 36 percent reduction is caused by the response of
the material when some portions of the initially vertical lateral surface of the
billet come into contact with the die and the punch (see the deformed mesh
at 40 percent reduction in Fig. 12.5(b)).
Example 12.6 (sheet metal forming). We consider a thin sheet metal forming
problem. This type of problem is often analyzed using a nonlinear theory of
CONTACT PROBLEMS 401
FIG. 12.5(a). Initial configuration for a head forming problem. From J. H. Cheng and N. Kikuchi
[1], Computing Methods in Applied Mechanics and Engineering. Copyright 1985 American Society
of Applied Engineers.
membrane shells (e.g., Kobayashi and Kim [1], and Wang and Wenner [1]).
The configuration and dimensions of the problem are shown in Fig. 12.6(a).
The thickness of the sheet metal is 1 mm, which is modeled by 132 4CST
elements in equal spacing. The material is aluminum 1100-0 whose properties
are given as E - 68.95 Gpa, v = 0.32, yield strength Sy = 31 Mpa, and post-yield
relation v= 151.68e 25 Mpa.
Both stretch forming and deep drawing are considered. The process is first
carried out by assuming a fixed flange and a constant coefficient of friction,
VF = 0.4, between the punch and the sheet metal. Deformed configurations at
each 10 mm of the punch depth up to 40 mm are illustrated on the right-hand
side of Fig. 12.6(b). The other side of the figure shows another case with a
402 CHAPTER 12
FIG. 12.5(b). Deformed meshes of a head forming problem (coefficient of friction 0.3). From
J. H. Cheng and N. Kikuchi [1], Computing Methods in Applied Mechanics and Engineering.
Copyright 1985 American Society of Applied Engineers.
CONTACT PROBLEMS 403
FIG. 12.5(c). Applied load evaluated from element stresses under the rigid punch during a head
forming process, original area A0 = 12.57 cm2. From J. H. Cheng and N. KJkuchi [1], Computing
Methods in Applied Mechanics and Engineering. Copyright 1985 American Society of Applied
Engineers.
FIG. 12.6(a). Configuration and dimensions for a thin sheet metal (1 mm of thickness) forming
process.
404 CHAPTER 12
FIG. 12.6(b). Deformed configurations at every 10 mm of punch depth in a thin sheet metal forming
process with two different contact conditions, VF = 0.4 on the right-hand side, and VF = 0.04 on the
left-hand side.
FIG. 12.6(c). Applied loads (normalized by 20 kN) vs. punch depth of a thin sheet metal forming
process with two different contact conditions.
CONTACT PROBLEMS 405
FIG. 12.7(a). An axisymmelric backward extrusion process with remeshing at every 5 percent
reduction of the initial height. From J. H. Cheng and N. Kikuchi [2], International Journal for
Numerical Methods in Engineering. Copyright 1986 Pergamon Press.
with the finite element model used, the "time" lapse for the next point to reach
the punch is rather long, also the sudden increase of contact area is large so
that the load jumps at the moment of contact.
Example 12.7 (backward extrusion process). We next solve a backward
extrusion process shown schematically in Fig. 12.7(a). The billet is assumed
to be lead with material properties £ = 36.54Gpa, ^ = 0.245, yield strength
Sy = 23.44 Mpa, and a very low strain hardening H' - 0.007 Mpa. A constant
coefficient of friction, vF = Q.l is imposed on all the contact surfaces.
The billet of initial diameter 50.8cm (20 in) and height 38.1 cm (15 in) is
modeled by 150 4CST finite elements. The entire forming process up to 30
percent reduction of the initial height is interrupted at every 5 percent reduction
for remeshing. Several deformed configurations are shown in Fig. 12.7(a), in
which the diagonals of 4CST elements are omitted. The computed applied
loads are given in Fig. 12.7(b).
Example 12.8 (plane-strain extrusion process}. The last example problem is
a plane strain extrusion process through a square die shown in Fig. 12.8(a).
The material used is aluminum 1100-0 with the properties £ = 68.95 Gpa,
i^ = 0.32, yield strength Sy = 31 Mpa and strain hardening <T = 151.7e'25 Mpa.
The process is carried out by assuming either frictionless contact conditions
406 CHAPTER 12
FIG. 12.7(b). Applied load (normalized by TrR^Sy) of a backward extrusion process by a rezoning
technique. From J. H. Cheng and N. Kikuchi [2], International Journal for Numerical Methods in
Engineering. Copyright 1986 Pergamon Press.
FIG. 12.8(a). A schematic setup for a plane strain extrusion process through a square die. From
J. H. Cheng and N. Kikuchi [2], International Journal for Numerical Methods in Engineering.
Copyright 1986 Pergamon Press.
CONTACT PROBLEMS 407
FIG. 12.8(b). Deformed configurations of a plane strain extrusion process through a square die,
upper half for the frictionless case, lower half for a constant VF - 0.2 assumed on all contact surfaces.
From J. H. Cheng and N. Kikuchi [2], International Journal for Numerical Methods in Engineering.
Copyright 1986 Pergamon Press.
FIG. 12.8(c) Applied loads (normalized by TrRgSy) vs. punch travel of a plane strain extrusion
process through a square die for two contact conditions. From J. H. Cheng and N. Kikuchi [2],
International Journal for Numerical Methods in Engineering. Copyright 1986 Pergamon Press.
13.2. Stick-slip motion vs. steady sliding. Let us consider a body (slider) in
frictional contact with a fixed surface, as depicted in Fig. 13.1 (a). The slider
is intended to move along the surface with some (small) tangential velocity
UT, this velocity being impressed upon the slider by some driving mechanism
which itself possesses specific elastic and damping properties. As many
examples in our daily life teach us, what frequently happens is that the desired
steady sliding at the prescribed velocity UT is not achieved. Instead, the body
advances in an intermittent fashion with successive alternate periods of rest
412 CHAPTER 13
FIG. 13.1. (a), (b) Models of two (equivalent) sliding systems which may have stick-slip oscillations.
K = linear stiffness; C = linear damping; M = mass of the slider; N = normal load; LJT = driving
velocity; v= friction coefficient. Reprinted with permission from J. T. Oden and J. A. C. Martins
[1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985 Elsevier Science
Publishers.
FIG. 13.1. (c), (d) Typical traces of stick-slip motion for systems (a) and (b) in Fig. 13.1.
ur = displacement of the slider; t - time; LJT = driving velocity. Reprinted with permission from
J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
DYNAMIC FRICTION PROBLEMS 413
and sudden sliding (see Fig. 13.1(c)). These relaxation type oscillations are
usually known as stick-slip motion (after Bowden and Leben [1]).
Since the work of Blok [1] in 1940, it is known that the essential condition
for the occurrence of stick-slip oscillations in sliding motion is a decrease of
the friction force with the increase, from zero, of the sliding velocity.
Such results bring to mind the classical textbook examples of friction wherein
experiments with rigid blocks sliding down inclined planes led to the age-old
concept of the existence of static and kinetic coefficients of friction. Motion
begins when the friction force F reaches a critical value proportional to the net
normal force N, the constant of proportionality vs being the static coefficient of
friction. Once sliding of the body begins, the friction resisting force F attains a
value F = vkN, where vk is the kinetic coefficient of friction, and vk<vs.
This simple model of dynamic friction has had a profound impact on
experimental studies of friction throughout over two centuries that have elapsed
since Coulomb's writings.
Blok's work and the longstanding acceptance of Coulomb's law encouraged
numerous investigators to devise experimental programs for monitoring the
variation in the coefficient of friction with sliding velocity in studies of stick-slip
oscillations. For nearly half a century the overwhelming majority of such
experimental studies has involved experimental methods in which the tangen-
tial motion and the tangential forces on a slider, such as that in Fig. 13.1, are
carefully monitored while the net normal force is assumed to be constant.
Then all the variations in the observed friction force are assumed to be a
consequence of the variation of the coefficient of friction with sliding velocity,
and much work has concentrated on the determination of a "characteristic"
v=v(UT).
Unfortunately, the results of literally hundreds of experimental tests have
little, if any, agreement. While it may be accepted that different pairs of metals
in contact and different lubrication conditions produce characteristics
(coefficient of friction vs. sliding velocity plots) with clearly distinct shapes,
it is known that even for the same combination of metals and lubrication
conditions, changes in only the dynamic properties of the experimental setup
(e.g., stiffness) or on the driving velocity, produce dramatic changes in the
observed characteristics.
It thus appears that these experimental characteristics are not at all an
intrinsic property of the pairs of surfaces in contact. Such a point of view has
been expressed by several authors who attribute apparent decreases of the
coefficient of friction with the increase in sliding velocity to the occurrence of
micro-vibrations of the slider in the direction normal to the contact surface.
In fact, Tolstoi [1] observed that the forward movements of a slider during
stick-slip motion invariably occur in strict synchronism with upward jumps.
Oscillograms of the normal contact oscillations which occur during the sliding
portions of the stick-slip cycles were obtained by Tolstoi, Borisova and
Grigorova [1]. An examination of these oscillations revealed a fundamental
414 CHAPTER 13
Friction conditions.
FIG. 13.2. Hysteresis loops for the normal deformation of the interface (schematic), (a) Experi-
mentally observed loop, under quasi-static loading conditions, if total separation of the surfaces is
allowed during unloadings, (b) Hysteresis loop modeled by the constitutive equation (13.1) under
dynamic loading conditions. Reprinted with permission from J. T. Oden and J. A. C. Martins [1],
Computer Methods in Applied Mechanics and Engineering. Copyright 1985 Elsevier Science
Publishers.
FIG. 13.3. Geometry and notation used in elastodynamics problem with sliding friction. Reprinted
with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics
and Engineering. Copyright 1985 Elsevier Science Publishers.
416 CHAPTER 13
losses, the correlation between the damping coefficient bn and the energy loss
per cycle of contact is readily obtainable.
The friction law (13.2) is a generalization of Coulomb's friction law, which
is recovered if mn = mr and normal dissipative effects are negligible (a-dn = 0).
In that case, the maximum value of the modulus of the friction stress is equal
to the product of v( = cT/cn) and the normal pressure (|o-™ax |= v\crn\) where
v is the usual coefficient of friction. The law (13.2) allows for a dependence
of the coefficient of friction on the normal contact pressure. The general form
for this dependence, consistent with (1.2) (again for negligible a-*), is
Initial conditions,
It is easy to show that any classical solution of this problem also satisfies
a variational statement in the form of an inequality, which is a version of the
principle of virtual power. A similar variational inequality is the basis for the
weak statement of our problem to be presented below.
First, however, we need to introduce some notation. We define the space
of admissible displacements (velocities) in the usual way:
where y denotes the restriction of the trace to V. This trace operator y maps
V linearly and continuously onto the subspace W of (H 1/2 (r)) N defined by
Assuming that the data for our problem satisfy suitable smoothness require-
ments, we introduce the following definitions:
a
E(£,in) = virtual work (power) produced by the deformation
of the linear springs on F£,
because, for ve(H 1 (^)) N , y(v)e (L g (O) N with 1 < g < o o for N = 2, and with
l < g < 4 for N = 3, see Kufner et al. [1]. We can thus conclude that for the
case N = 2 all the experimentally expected values of mn (mn e [2, 3.33]) can
be used in a mathematically consistent way in our formulation. For the case
N = 3, the mathematical restriction mn =s 3 will be harmless in most of the
cases: in Blok et al. [1] only one experimental value of mn is shown which
slightly exceeds 3 (3.125), the most common value for mn being 2.
We now turn our attention to the approximation of (13.15) by a family of
regularized problems more suitable for computational purposes. Toward this
end, we approximate the friction functional 7 ' : V x V - * ( R , which is non-
differentiable in the second argument (velocity), by a family of regularized
functionals je which are convex and differentiable in the second argument:
420 CHAPTER 13
The partial derivative of7 e with respect to the second argument, at (u, w)
in the direction of v, is then given by:
With all the definitions and notation introduced earlier, the variational
formulation for the steady sliding problem is then:
Find the function u0 e V such that
Using a generalized Green's formula, the fact that f is given in H and the
density of the embedding Wc+(Lq(I,))N, it is possible to prove that classical
and variational formulations for this problem are equivalent in usual sense
discussed many times in this volume.
DYNAMIC FRICTION PROBLEMS 423
If the coefficient of friction or the applied forces and initial gap are
"sufficiently small" it is also possible to prove existence and uniqueness for
the steady sliding problem. In order to prove this, we need to first study the
following auxiliary problem:
Find u e V such that
I* 1
then there exists R>Q such that (13.37) has a unique solution in the closed ball
Outline of the proof. The technique of the proof of existence used here is
similar to that of Theorem 11.3 used to prove the existence of a solution for
a Signorini problem with nonlocal friction in Chapter 11 based on the
Schauder-Tykhonov's fixed point theorem. The essential difference between
the present result and that in Chapter 11 is that earlier the compactness of the
mapping T resulted from the compactness of a smoothing operator used in
the nonlocal friction law while here the compactness of T results from the
compactness of the trace operator. In fact, here we denote by T the mapping
424 CHAPTER 13
emerging from (13.37) and in (13.15), (13.21) for the case bn = 0, ur(s) = 0,
UT(S) 5* 0 a.e. s e Fc, is continuously differentiate in V (see Martins [1]), i.e.,
AeCl(V). The derivative map
DYNAMIC FRICTION PROBLEMS 425
is given by
e, vu(t) are the nodal values of the displacement, etc., at time t and N, is
the element shape function associated with the node /. For the cases in which
the time dependence does not exist, appropriate reduced forms of the above
representations are obvious.
The discrete problems. The finite dimensional versions of the variational
statements (13.21), (13.37), and (13.41) are easily obtained by standard pro-
cedures, and we need only present the form of the resulting systems of equations
for the discrete problem.
Let Nh denote the number of nodes in the finite element mesh. The finite
element approximation of (13.21) leads to the following problem, involving a
system of nonlinear ordinary differential equations:
where
where
This problem is the discrete version of (13.41) with -A 2 in (13.46) playing
the same role of a in (13.41).
Physically, the matrix K" characterizes the variation of the normal nodal
forces due to a variation of the normal nodal displacements; the matrix Kr"
produces a variation of the nodal friction forces due to a variation of the nodal
normal displacement; finally, the matrix C r characterizes a variation of the
nodal friction forces due to a variation of the nodal sliding velocities.
Both K" and C T are symmetric matrices because both are associated with
terms which can be considered as second derivatives of functionals. In fact,
if u, v, we Vh are displacement functions and U, V, W denote the corresponding
vectors of nodal values, we have
where p: Vh -> (R is the deformation energy associated with the nonlinear springs
on Tc
and the matrices KK (I) , K'K (I) and C£ (l) are precisely the matrices defined by
(13.46) at r = r ^ , r = r^.
In our implementation of the central-difference technique we use as the
fundamental unknown at time tK the velocity f K =r(r x ). Introducing
where, now
wherein
We observe that, since M and C r(l) are both symmetric, the matrix K^ is
also symmetric. The matrix K^ will become diagonal if a diagonalized mass
430 CHAPTER 13
FIG. 13.6. Distribution of tangential stresses on Fc at several time instants due to periodic
loading T F . Reprinted with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods
in Applied Mechanics and Engineering. Copyright 1985 Elsevier Science Publishers.
FIG. 13.7. Tangential displacements at node 55 using different values of e. Reprinted with
permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics
and Engineering. Copyright 1985 Elsevier Science Publishers.
Example 13.2 (steady sliding and dynamic stability: an elastic slab with no
rigid body freedoms). We next consider a slab similar to that in Fig. 13.4 with
the same material and normal contact properties and boundary conditions on
r D as those in the preceding example. The dimensions are now 16 cm x 1 cm
and the finite element mesh consists of 9 x 2 9-node isoparametric elements.
The initial negative normal gap on Fc was taken successively to be 5 x 1(T4 cm
and 1 x 10~3 cm. The "rigid" flat surface that compresses the body along Fc
is assumed now to have a velocity towards the right. No forces now act either
in (1 or on FF. The deformed mesh configurations and the distributions of
normal stresses on Fr for the steady sliding equilibrium positions at several
values of v are shown in Figs. 13.10 and 13.11 for g = -1 x 10~3 cm. We call
upon (13.47) and compute the eigenvalues of K at the equilibrium positions
of the slab. Computed results show that the lack of symmetry of KT" leads to
eigenvalues with positive real parts whenever v > 1.6 if g = -5 x 1CT4 cm, and
when i > > 1 . 6 i f g = -lx 10~3 cm. This implies that for these values of v steady
sliding is dynamically unstable. In Fig. 13.12 a plot of the evolution of
the eigenvalues in the first quadrant of the complex plane, for ^e[0,1], is
presented.
436 CHAPTER 13
FIG. 13.8. Tangential velocities at node 55, using different values ofe. Reprinted with permission
from J. T. Oden and J. A. C. Martins [ 1 ], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
FIG. 13.9. Friction stress at node 55 using different values ofe. Reprinted with permission from
J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
FIG. 13.10. Undeformed (X), and deformed mesh configurations of a compressed slab in steady sliding
equilibrium for v = 0(*), i' = 0.5(D), and v= 1.0(0) (not to scale). Reprinted with permission from J. T. Oden
and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985 Elsevier
Science Publishers.
FIG. 13.11. Distribution of normal stresses on Tcfor the steady sliding equilibrium at various
values ofv. Reprinted with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods
in Applied Mechanics and Engineering. Copyright 1985 Elsevier Science Publishers.
FIG. 13.12. Effect of increasing the compression on the eigenvalues with positive real part. Reprinted
with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics
and Engineering. Copyright 1985 Elsevier Science Publishers.
DYNAMIC FRICTION PROBLEMS 439
FIG. 13.13. A block sliding with friction on a moving belt. Reprinted with permission from J. T.
Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright
1985 Elsevier Science Publishers.
A simple calculation reveals that for the given geometry a necessary condition
for equilibrium is that v < L/H = 1.6; for v = 1.6 the body will begin to tumble
(with unbounded rotations).
The finite element model consists of a 4 x 3 mesh of 9-node isoparametric
elements. In Fig. 13.14, we show the deformed mesh configurations at several
FIG. 13.14. Deformed configurations of a linearly elastic block for the steady sliding equilibrium configurations at several
values of v. (Note. Nodal coordinates and nodal displacements are not to scale—the apparent distortion of the body results
from an amplification of the vertical displacements by 103 larger than that of the horizontal displacement so as to make visible
the rotation of the body). Reprinted with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in
Applied Mechanics and Engineering. Copyright 1985 Elsevier Science Publishers.
DYNAMIC FRICTION PROBLEMS 441
FlG. 13.15. Eigenvalues with positive real parts for a finite elements discretization of a block in
steady sliding on a moving belt. (The ranges of v for which those eigenvalues were obtained are
indicated on the figure between brackets.) NINCT = 20 ^e[0, 1.6). Maximum value of v for which
the equilibrium solution was successfully computed: i> = 1.52. + = Eigenvalues corresponding to the
"rigid body" normal and rotational modes. Reprinted with permission from J. T. Oden and
J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985
Elsevier Science Publishers.
FIG. 13.16. Evolution of the eigenvalues on the complex plane for the successive equilibrium positions
obtained with increasing coefficient of friction (no damping). Reprinted with permission from J. T.
Oden and J. A. C. Martins [ 1 ], Computer Methods in Applied Mechanics and Engineering. Copyright
1985 Elsevier Science Publishers.
favorably with the eigenvalues associated with similar modes obtained with
the finite elements model.
Example 13.4 (perturbation of the steady sliding of a block on a moving
foundation). In this example, we show the effects of the eigenvalue structure
of (13.47) on the motion of the block of Fig. 13.13. For each set of data (in
particular some value of v) we solve numerically the nonlinear equations of
motion (13.42) with the following initial conditions: the initial displacements
are prescribed as those corresponding to the steady sliding equilibrium
configuration appropriate for the value of v considered; initial velocities
represent a small perturbation (upwards) of the translation velocity (uxG = 0.0,
DYNAMIC FRICTION PROBLEMS 443
FIG. 13.17. Phase plane plot for the normal motion of the center of mass. Rigid body model with
the data (13.54) and B0 = 30.5 cm, moment of inertia about the center of mass, I = 124.2 (103 kg cm 2 )
Kx = 11100 (103 Kgs~ 2 ), v = 0.15, (7^ = 0.08 cm s"1 (no damping). Reprinted with permission from
J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
MVG = -0.01 cm s \ ue = 0.0). Various cases were run assuming either a linearly
elastic block (the finite element model of Fig. 13.14) or a rigid block (the three
degrees of freedom model of Fig. (13.15). Other than friction, the only dissipa-
tive effect considered with the first model was a normal contact dissipation of
the form in (13.1) with bn = 0.381 x 1010 (103 kgcnT 4 s'1) and ln=2.5; with
the second model the results shown here were obtained with linear viscous
damping characterized by diagonal coefficients Cx, Cy, C. Other data are given
in the figures. The finite element results were obtained using the central-
difference algorithm with Af m a x = 3x 10~ 6 s and a diagonalized mass matrix.
The rigid body motions were calculated using Newmark's method with Af m a x =
10~ 5 s.
Representative numerical results are given in Figs. 13.17-13.25. The follow-
ing list of remarks provides an interpretation of these results.
The small friction case. Referring to Fig. 13.17, we see that, in the absence
of damping ifv is sufficiently small the eigenvalues A of (13.47) are all imaginary
and an apparently stable small-amplitude oscillation is obtained.
FIG. 13.18. Phase plane plot of the initial part of the normal oscillation of the center of mass. Rigid body
model with the data (13.54) and B = 14cm, 7 = 70 (10 3 kgcm 2 ), KX = 238S (lO^gs'2) cx/2Mw = 0.005,
cy/2MWyo = 0.04, ce/2Iweo = 0.04; v = \; f/J = 0.127 cms"1. Reprinted with permission from J. T. Oden
and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985 Elsevier
Science Publishers.
DYNAMIC FRICTION PROBLEMS 445
FIG. 13.19. Phase plane plot of the tangential motion of the points of the block on the contact
surface: Rigid body model with the data of Fig. 13.18 except for Kx = 4441(103 kgs"2). Reprinted
with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics
and Engineering. Copyright 1985 Elsevier Science Publishers.
FIG. 13.20. Influence of the velocity of the support on the tangential motion of the center of mass.
Rigid body model with the data of Fig. 13.18. Reprinted with permission from J. T. Oden and
J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985
Elsevier Science Publishers.
446 CHAPTER 13
FIG. 13.21. Phase plane plot of the steady normal oscillation obtained during apparently smooth
sliding with an apparent coefficient of kinetic friction lower than the coefficient of static friction. Rigid
body model with the data of Fig. (13.18) except for !/£ = 0.287 cms"1. Reprinted with permission
from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
FIG. 13.22. Evolution of the spring elongation for two velocities U^. Finite element model with
the data (13.54) and Kx = 11100 Kg s~2, B0 = 30.5cm, /u = 0.6. Reprinted with permission from
J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering.
Copyright 1985 Elsevier Science Publishers.
DYNAMIC FRICTION PROBLEMS 447
FIG. 13.23. Evolution of the normal stresses on the contact node 29. Finite element model with
the data of Fig. 13.22 and Ucx = 0.01 cms"1. Reprinted with permission from J. T. Oden and
J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985
Elsevier Science Publishers.
FIG. 13.24. Evolution of the friction stresses on the contact node 29. Finite element model with
the data of Fig. 13.22 and Ucx = 0.01 cms'1. Reprinted with permission from J. T. Oden and
J. A. C. Martins [1], Computer Methods in Applied Mechanics and Engineering. Copyright 1985
Elsevier Science Publishers.
448 CHAPTER 13
The large friction case, (i) If v is sufficiently large that some eigenvalues of
(13.47) have (even in the presence of some damping) positive real parts, then
a dynamically unstable motion results which is characterized by growing
normal and rotational oscillations (Figs. 13.18, 13.23).
(ii) The variation of the normal force on the contact produces changes in
the sliding friction force which in turn produces a tangential oscillation.
(iii) The tangential oscillation may then become sufficiently large that, for
small values of the belt velocity Ux the points of the body on the contact
surface attain the velocity f/f and the body sticks for short intervals of time
(see Figs. 13.19, 13.25).
(iv) With the increase in magnitude of the normal oscillations, actual normal
jumps of the body may occur (see Figs. 13.18, 13.21, 13.23).
(v) The repeated periods of adhesion have the result of decreasing the
average value of the friction force on the contact and, due to the absence of
equilibrium with the restoring force on the tangential spring, the tangential
displacement of the center of mass decreases (see Figs. 13.20, 13.22).
FIG. 13.25. Evolution of the friction stress at node 29 during the contact portion of one cycle of
normal oscillation. Finite element model with the data of Fig. 13.22 and Ucx = 0.08 cm s"1. Reprinted
with permission from J. T. Oden and J. A. C. Martins [1], Computer Methods in Applied Mechanics
and Engineering. Copyright 1985 Elsevier Science Publishers.
DYNAMIC FRICTION PROBLEMS 449
(vi) It follows that for given geometry and material data, one of the two
following situations may occur:
(a) for values of t/f larger than some critical value, the normal,
rotational and tangential oscillations evolve to what appears to be a steady
oscillation (see Fig. 13.22) with successive periods of adhesion and sliding,
the average values of the friction force and of the spring elongation being
smaller than those corresponding to the steady sliding equilibrium position
(see Fig. 13.20, 1/^ = 0.287 cms""1).
(b) for values of U* lower than the critical value, and at a sufficiently
small value of the spring elongation, the normal (and rotational) damping is
able to dampen out the normal (and rotational) oscillation and the body sticks
(see Figs. 13.21, 13.23) since the restoring force of the spring is then smaller
than the maximum available friction force.
Thus, in monitoring the spring elongations, as is often done in friction experi-
ments, case (a) would be perceived as an apparently smooth sliding with a
coefficient of kinetic friction smaller than the coefficient of static friction and case
(b) would be perceived as stick-slip motion.
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Chapter 14
14.2. Kinematics of rolling contact. The first, and one of the most important,
consideration, in formulating the rolling contact problem is a proper descrip-
tion of the kinematics. We shall now describe one approach to the kinematical
analysis. We confine our attention to the finite rolling contact problem for a
thick highly deformable cylinder. For simplicity, we shall ultimately assume
that the cylinder is in a state of finite plane strain, but all of the kinematical
relations developed in this section are applicable to three-dimensional prob-
lems of cylinder deformations symmetric about a plane normal to the founda-
tion and tangent to the direction of motion.
A fundamental aspect of the description of motion and deformation of a
continuous body is that it involves the comparison of the geometry of a body
in two or more of its configurations. In the steady rolling contact problem,
however, we encounter the rolling body after it has fully deformed in a
configuration Cc(R 3 . Hence, it is not always meaningful to compare this
observed geometry with that in some irrelevant configuration assumed by the
body at a time in the distant past. Instead, it seems natural to first imagine
that the spinning cylinder is perfectly rigid, that it is spinning about its axis
at a constant angular velocity w, without contact with a belt or roadway, and
to then compare the observed deformed geometry of the steady state contact
problem with this unstrained rigid motion. The configuration of the spinning
rigid cylinder at time t is denoted C,. Of course, the configuration assumed
by the rigid spinning cylinder need never be actually attained by the deformable
cylinder at any time.
With this convention in mind, we view the deformed cylinder at a fixed time
t, as indicated in Fig. 14.1. The actual value of t is irrelevant, since this
deformed shape is the same for all times. Thus, the deformation of the rolling
cylinder at time t can be completely characterized by comparing the position
of material particles X in the body at time t with positions in the rigid cylinder
at the same time t. Therefore, let \(t) denote a vector emanating from the
origin 0 to a material particle X in the deformed cylinder at time t and let
R(0 denote a vector from 0 to the place that would have been assumed by
this same particle at time t had the cylinder been rigid. A relation of the form
ROLLING CONTACT PROBLEMS 453
These coordinates and the geometry of the rigid cylinder are shown in Fig.
14.1 (a). The reference coordinates are thus dependent on time t, but this
dependence is only formal since the shape of the deformed cylinder is the
same at all times.
The motion of the cylinder is defined by a twice differentiable and invertible
map x that takes the reference configuration Ct of the cylinder at time t (the
places occupied by particles of the rigid cylinder at time t) onto the current
(deformed) configuration at the same time t. In particular the motion carries
points (r, 0, z) in the reference configuration to positions *,, i = 1,2,3, relative
to the spatial frame of reference, given by
Thus, time enters the description of motion only implicitly as 6 = & + cot.
Various kinematical quantities can be computed in terms of the motion x-
The deformation gradient tensor F is given by
or
and the right and left Cauchy-Green deformation tensors C and B are given,
respectively, by
where Div denotes the divergence operator referred to the reference configur-
ation, superimposed dots indicate time rates, and
T = the first Piola-Kirchhoff stress tensor,
Po = the mass density in the reference configuration,
b = the body force per unit mass in the reference configuration,
x = the acceleration vector x,,= (o2(B2Xi/d02).
The balance of angular momentum requires that TFT = FTT, so that T is, in
general, not symmetric.
2) Constitutive equations. In most of the applications, we assume that the
material is an isotropic hyperelastic material characterized by a stored energy
function W, representing the strain energy per unit volume in the reference
configuration, which is given as a differential function of the principal
invariants of the deformation tensor C:
In this case,
456 CHAPTER 14
or
where H is the distance from the axis of the deformed cylinder to the foundation
(Fig. 14.1) and F is the exterior surface of the cylinder. If t denotes the stress
vector,
where n is a unit exterior normal to the surface of the rigid spinning reference
cylinder, then we also must have on F,
where
Alternately, the cylinder could be hollow with the interior surface F subjected
to a prescribed ("inflation") pressure pQ. Then, if n denotes a unit normal to
the material surface F0 in the current (deformed) configuration, we must have
the traction condition
the set K of admissible motions with constraints and the set K of mixed
velocity motions,
458 CHAPTER 14
where W 1>p (ft) is the Sobolev space of order (1, />), i.e., the space of integrable
functions defined on ft with distributional derivatives of first order in L p (ft).
However, we will then have
representing the virtual power of the external forces. The form a ( - , •) rep-
resents the virtual power developed by Piola-Kirchhoff stresses on the deforma-
tion gradients, j ( - , - ) is a virtual work (power) contribution from frictional
forces on the contact surfaces, B( - , •) is the virtual work due to inertial forces.
ROLLING CONTACT PROBLEMS 459
where
It remains only to show that this variational inequality is equivalent in some
sense to the boundary value problem of rolling contact described earlier. This
is accomplished by standard arguments that will not be reproduced here.
THEOREM 14.1 (equivalence). Let motion \bea solution to the general rolling
contact problem; i.e. \ satisfies (14.11) with T given as a function of V\ by
(14.14) and satisfies (14.17), (14.20), (14.22), and (14.24). Then \ is a solutio
of the variational inequality (14.35). Conversely, let \ be any sufficiently smooth
solution of (14.35). Then \ is also a solution of the general rolling contact proble
We now consider several devices for the regularization of the variational
problem which consists of three components.
1) Regularization of the friction functional The friction functional ; ( • > ' ) is
replaced by a differentiate regularization je( •, •), depending on a real param-
eter e < 0, in precisely the same manner as was done repeatedly in Chapters
10, 11 and 13.
Let w = x\ - v0 be the slip velocity and o-T the frictional stress on the contact
surface. Applying (11.14),7'(x> v ) is replaced by
and this constraint is relaxed by the introduction to the energy of the exterior
penalty functional,
Physically, the quantity —S~l(x2 ~ H)+ represents a normal contact force acting
on F. This can, in fact, be used in computation as an approximation of the
normal stress component an on the contact surface.
3) Incompressibility. The incompressibility constraint, det V\ = 1, is relaxed
by introducing a penalty functional,
Here Cle is a typical element, x" is the value of \h at node N of element £le,
and Ne is the number of nodes in element £le.
Finally, the discrete problem can be stated as follows: Find \E e Vh such that
etc. Here W* and QJ are the quadrature weights, £J are the quadrature points
(with Wj Gaussian quadrature weights and QJ corresponding to Simpson's
rule on the boundary). For Q2-elements, we typically take G = 9 = 3x3. In
the expression for j^he normal stress crn is approximated by -8~ l (#e 2 ~
H}+(£j) at the quadrature points.
In the calculation of (/^(XE), v*), we typically use either "underintegration,"
by which we mean that a quadrature rule of order G = 2 x 2 is used, or a
perturbed Lagrangian element. The former corresponds to a local hydrostatic
pressure approximation by discontinuous bilinear elements; the latter is the
Qi/ PI element in which a Q2-approximation of the motion \E is used with a
P! (piecewise linear) approximation of the hydrostatic pressure.
Algorithms. The finite element approximation of the regularized form (14.43)
of the governing variational equality leads to a highly nonlinear system of
algebraic equations of the form
where
F = 3N-vector of nonlinear equilibrium (momentum) equations govern-
ing the discrete model.
x = ( x i , x 2 , ' • • ,x 3 N ) T = a vector of 3 N degrees of freedom representing
nodal values of the motion \.
p = a collection of critical parameters such as:
H—the distance of the axis of the cylinder to the foundation,
a)2—the squared angular velocity,
P0—an internal (inflation) pressure.
In addition, the system will also depend upon the regularization and penalty
parameters e, 5, e0. In general, the system may have multiple solutions for
sufficiently small H and it may also exhibit resonance-type behavior for the
certain critical frequencies w 2 . We shall describe computational procedures
for solving (14.45) for fixed w 2 and P0 whch are built around a so-called
continuation methodology in which p = H is treated as unknown and in which
we attempt to trace families of solutions (x, p) of (14.45) along paths in
(3JV+l)-dimensional \-> P space. Such paths are described by parametric
462 CHAPTER 14
where
Step 3 (correction).
with
Set
Step 4. Return to Step 1 and continue to process with (x0, p0) replaced by
(x'i,Pi)-
464 CHAPTER 14
In Step 1, it is, in general, inappropriate to set (x0, p0) = (0,0) since this is
not a point on the solution path. The starting point (x0, p0) is computed by
specifying a small initial value of p0 and computing x0 by Newton's method.
The procedure in Step 2 was advocated by Keller [1] and has the attractive
feature of preserving the symmetry and bandwidth of Jtj (when symmetry
exists) as opposed to treating the full system at once.
The algorithm given in Step 3 is also a Keller-type scheme, similar in structure
to that of Step 2, and is equivalent to the constrained Newton-Raphson scheme,
FIG. 14.4. Stress contour for rolling cylinder (a) Step 2; (b) Step 3; (c) Step 4.
FIG. 14.5. Calculated deformed rolling cylinder configuration for d = R0-H of (a) 0.3 in., (b)
0.418 in., and (c) 0.464 in.
Example 14.3 (bifurcation and standing waves). We cite a final example taken
from Oden and Lin [1]. This example involves the remarkable property of
bifurcation and standing waves in spinning cylinders.
We begin with the case of a free-spinning cylinder, the dimensions and
properties of which are the same as those in Example 14.2. The cylinder is
spun without contact at an angular velocity o>, and for sufficiently small values
of ft>2 only a radially symmetric deformation is possible (indeed, for an
incompressible material, no deformation is observed). We steadily increase
the parameter w 2 obtaining a one-parameter family of solutions. Then, for a
468 CHAPTER 14
FIG. 14.6. Computed wave patterns and stress contours in a spinning cylinder in frictionless contact
for various values of <a: (a) o> = 41.91 rad/s., (b) w = 43.38 rad/s., (c) o> = 44.01 rad/s., (d) o> =
46.83 rad/s. (after Oden and Lin [1]).
ROLLING CONTACT PROBLEMS 469
FIG. 14.7. Computed wave patterns and stress contours in a spinning cylinder withfrictional contact
with d = 0.1, u = 0.1, and 10 = 41.31 rad/s. (after Oden and Lin [1]).
model is capable of delivering a pattern of only eleven peaks due to the small
number of degrees-of-freedom available in this rather coarse mesh. For higher
values of w 2 , fewer peaks are computed, as indicated. The addition of frictiort,
of course, destroys the symmetry of the pattern, as indicated in the computed
wave pattern shown in Fig. 14.7.
These types of bifurcation phenomena for free-spinning hyperelastic cylin*
ders are studied in some detail in the memoir of Rabier and Oden [1].
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Concluding Comments
As is the case with all of theoretical mechanics, the province of the theory
of contact of deformable bodies is to deliver mathematical models of a specific
and well defined class of physical phenomena—in this case, the fundamental
and basic phenomena we necessarily experience each instant of our existence:
the contact of one body with another. Since our aim is to develop mathematical
models, we cannot escape the necessity of dealing with mathematics; it is the
language of mechanics and physics and in order to use it to extract the most
information our model can provide, we must work within the rigid rules for
which these models make sense.
Since the phenomena themselves are very complex, the mathematical models
are necessarily also complex and it is a generally accepted fact that all but
the simplest and most trivial cases must be dealt with by computational
methods. The advent of extremely large and high speed computational devices
is both an asset and a liability: an asset, since we can now consider more
sophisticated and realistic models of the phenomena we wish to study, but
also a liability since we are simultaneously faced with the responsibility of
determining how well the computed solutions depict the behavior our model
was designed to simulate. Too frequently this very real responsibility is swept
aside and one mistakingly interprets the computed results as a simulation of
the physical event, and not as what they are: only arrays of integers which
may or may not approximate the behavior simulated by our model.
Models, on the other hand, are after all only schemes for simulating physics
so when we are confident that the simulations are mathematically sound, we
must ultimately compare them with actual physical observations. If they prove
to be inadequate to depict the observed phenomena, they must be abandoned,
or expanded, improved, and modified. Thus to evaluate the model, we must
have confidence in its numerical approximations; we must have some guarantee
of the reliability of the computed approximations of the model before we can
adequately assess its adequacy as a simulation of actual events. This means
that the successful fulfillment of the province of mechanics requires a deliberate
471
472 CONCLUDING COMMENTS
475
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491
492 INDEX
Hertz contact problems, 6, 141, 142, 290, 310, Microdisplacements, 311, 316
332, 451 Minimization of functionals, 7, 31-40, 41-54,
Hertz problem by reciprocal formulation, 233 228
Hilbert spaces, 8,14, 16, 31, 38-43, 46, 55, 56, Minimization theorem, generalized Weier-
60, 65, 83, 84, 90, 94, 244 strass, 33, 382
Holder's inequality, 281, 337 Minimum potential energy, 216, 245, 374-376
Hookean materials, 27, 76, 416 Mises yield criterion, 387, 388
Hooke's tensor, 7, 27, 76, 475 Molliner, 338
Hydrostatic pressure, 176 Monotone operator, 34
Hyperelastic material, 370, 371 Mooney-Rivlin cylinder, rolling contact of, 464
Hysteresis loops, 414, 415 Mooney-Rivlin material, 370, 380, 466
Potential energy functional, 7, 31, 77, 94, 117, for incompressible materials, 173-199
122, 279 with nonlocal and nonlinear friction, 335-
Power spectral density, 322 342, 345-356
Prandtl-Reuss equation, 3, 387 numerical solutions of, 140-147
Projectional SOR method, 221-223 with prescribed tangential stress, 267
Pseudomonotone operators, 3 variational principles for, 29, 201-239, 269,
Pseudomonotone variational inequalities, 310 336
weak solution of, 111, 119-121, 211
Quadrature operator, 68, 69, 346 Simpson's rule, 133, 135, 141, 143, 195, 287,
Quadratic functional on Hilbert spaces, 38-43 346, 461
Q2-(9-node; biquadratic) elements, 133, 141, Slack variable, 199
143, 145 Slave boundary, 166
Sliding conditions, 287, 355
Reciprocal formulation: Sliding friction, 427
numerical method for, 221-225 Slip condition, 274, 282, 284, 287
of rigid punch problem, 225-236 Slip-stick conditions, 457
Reciprocal variational formulation, 215-220 Small deflection theory, 262, 263
Reciprocal variational inequality, 219,221,227, Sobolev norm, 17
228, 230, 231 Sobolev's imbedding theorem, 16,137,217,247
Regularized friction conditions, 419, 420, 430, Sobolev spaces, 3,9,28, 55,75, 77,83,85,373,
431, 459, 461 458, 476
Regularization parameter, 288, 290 definition and properties of, 15
Riesz map, 46, 48, 56, 131 order properties of, 78-82
Riesz projection, 128 Space of rigid motions, 204
Riesz transform, 104 Standing waves, 467
Rigid punch problems, 6, 9, 10, 112, 147-157, Steady sliding, 411-416,421-424,430,435,437-
225-236, 394 440
Riks-Wempner method, 462 Stick condition, 274, 282-284, 287, 355
Rolling contact problems, 451-469 Sticking zone, 302
Stick-slip motion, 430, 448
versus steady sliding, 411-416
Saddle point problems, 3, 31, 43-49, 55, 111, Stored energy function, see strain energy
155, 173, 176, 179, 180, 209-211, 239 Strain density, 7
finite element approximations of, 55, 64-67 Strain energy, 76, 244, 245, 371, 384
Schauder-Tykhonov Sxed point theorem, 339, Stress
341, 423 prescribed normal, 285
Segment property, 103 prescribed tangential, 267, 285
Selective reduced integration, 157,188, 224 trace theorem for, 92, 93
Semicontinuity, weak lower, 32, 35, 273, 382- Stress tensors, 89
384
Cauchy, 22, 25, 372, 476
Semi-infinite domains, 221 Piola-Kirchhoff, 372, 386, 455, 458
Semi-infinite formulation, 234 Strict convexity, 205
Sheet metal forming, 400-405 Subdifferential, 35
Signorini's boundary condition, 100 Successive over-relation method, 111, 130, 287
Signorini's problem, 2, 3, 7, 11, 12, 25, 30, 89,
103, 111-172, 308, 310, 380, 423
with Coulomb friction, 267-272, 284 Tangential stress, Signorini problems with, 267,
existence theorem for, 112-118 285
for finite elastic deformation, 370-376 3-point numerical integration rule, 215
finite element approximations of, 111, 121- Total potential energy, see Potential energy func-
130 tional
with friction, 335-342, 345-356, 392-393 Trace operator, 59, 85,94, 477
INDEX 495
Trace results for elasticity problems, 85-89 Weakly lower semicontinuity, 32, 35,273,382-
Trace theorems, 75, 83-89, 92, 93, 217 384
Tresca stress measure, 299 Wear, 411
Weierstrass theorem, 33, 382
Unilateral contact conditions, 19-25,147-151, Winkler foundation, 99, 288, 289
160, 161, 165,335,375
Unisolvent, 57
Uzawa's method, 111, 155, 198, 199, 232, 23
Young's inequality, 13,62,66,73,125,258,259,
282
V-elliptic, 216
V'-eliiptic, 217
Volterra equations, 310
von Karman plate theory, 3, 241, 243, 262 Zaremva-Jaumann stress rate cr, 387