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Multiaxial Fatigue
Multiaxial Fatigue © 2003-2013 Darrell Socie, University of Illinois at Urbana-Champaign, All Rights Reserved 1 of 134
Uniaxial Stress
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Proportional Biaxial
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Nonproportional Multiaxial
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Crankshaft
2500 0
45
90
Microstrain
0
-2500
Time
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Shear and Normal Strains
0º 90º
0.005 γ 0.005 γ
ε ε
-0.0025 0.0025 -0.0025 0.0025
-0.005 -0.005
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Shear and Normal Strains
45º 135º
0.005 γ 0.005 γ
ε ε
-0.0025 0.0025 -0.0025 0.0025
-0.005 -0.005
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3D stresses
Longitudinal Tensile Strain
0 0.004 0.008 0.012
Transverse Compression Strain
Thickness x
0.001 50 mm
y
0.002 30 mm z
100
0.003 15 mm
0.004
0.005 7 mm
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Book
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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State of Stress
Stress components
Common states of stress
Shear stresses
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Stress Components
σz
Z
τzy
τzx
τyz
τxz
σy
τyx
τxy
σx
Y
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Stresses Acting on a Plane
Z
Z’ X’
σx’
τx’z’ Y’
τx’y’
φ
θ Y
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Principal Stresses
τ13
σ3 τ12
τ23
σ2
σ1
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Stress and Strain Distributions
100
% of applied stress
90
80
-20 -10 0 10 20
θ
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Tension
σ3 τ γ/2
σ ε
σx
σ1 ε1
σ1 σ2
σ2 = σ3 = 0 ε2 = ε3 = −νε1
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Torsion
σ2 τ γ/2
σ3 σ ε3 ε
τ xy
σ1 ε1
σ3
Y
σ2 ε2
X σ1
σ1 = τxy
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Biaxial Tension
σ3
τ γ /2
σ3 ε
σ
σ1 = σx
σ1 = σ2 ε1 = ε2
σ2 = σy
2ν
ε3 = − ε
1− ν
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Shear Stresses
σ3 σ3
σ2 σ2
σ1 σ1
Maximum shear stress Octahedral shear stress
σ1 −σ3 τoct =
1
(σ1−σ3 )2 +(σ1−σ2 )2 +(σ2 −σ3 )2
τ13 = 3
2
3 3
Mises: σ= τoct τoct = τ13 = 0.94 τ13
2 2 2
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Maximum and Octahedral Shear
1.0
18%
0.8
0.6
Maximum shear
0.4
Octahedral shear 6%
0.2
-1 -0.5 0 0.5 1
σ3/σ1
torsion tension biaxial tension
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State of Stress Summary
Stresses acting on a plane
Principal stress
Maximum shear stress
Octahedral shear stress
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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The Fatigue Process
Crack nucleation
Small crack growth in an elastic-plastic
stress field
Macroscopic crack growth in a nominally
elastic stress field
Final fracture
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Slip Bands
Ma, B-T and Laird C. “Overview of fatigue behavior in copper sinle crystals –II Population, size, distribution and growth
Kinetics of stage I cracks for tests at constant strain amplitude”, Acta Metallurgica, Vol 37, 1989, 337-348
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Mode I Growth
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Mode II Growth
shear stress
slip bands
10 µm
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1045 Steel - Tension
1.0
Damage Fraction N/Nf
0.8
0.6 Tension
0.4
Shear
0.2 Nucleation
100 µm crack
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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1045 Steel - Torsion
1.0
Tension
Damage Fraction N/Nf
0.8
f
0.6
0.4
0.2 Shear
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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304 Stainless Steel - Torsion
1.0
Damage Fraction N/Nf
0.8
0.6
0.4
Tension
0.2 Shear
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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304 Stainless Steel - Tension
1.0
Damage Fraction N/Nf
0.8 Tension
0.6 Nucleation
0.4
0.2
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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Inconel 718 - Torsion
1.0
Tension
Damage Fraction N/Nf
0.8
0.6
Shear
0.4
0.2
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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Inconel 718 - Tension
1.0
Tension
Damage Fraction N/Nf
0.8
0.6
0.4
Shear
0.2
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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Fatigue Mechanisms Summary
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Stress Based Models
Sines
Findley
Dang Van
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Bending Torsion Correlation
Octahedral stress
Principal stress
0.5
0
0 0.5 1.0 1.5 2.0
Shear stress in torsion
1/2 Bending fatigue limit
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Test Results
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Cyclic Tension with Static Tension
1.5
Fatigue strength
Axial stress
1.0
0.5
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Cyclic Torsion with Static Torsion
1.5
Shear Stress Amplitude
Shear Fatigue Strength
1.0
0.5
0
0.5 1.0 1.5
Maximum Shear Stress
Shear Yield Strength
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Cyclic Tension with Static Torsion
1.5
Bending Fatigue Strength
Bending Stress
1.0
0.5
1.5
Shear fatigue strength
Torsion shear stress
1.0
0.5
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Conclusions
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Sines
∆τoct
+ α(3σh ) = β
2
1
( ∆σ x −∆σ y )2 + ( ∆σ x −∆σ z )2 + ( ∆σ y −∆σ z )2 +6( ∆τ2xy + ∆τ2xz + ∆τ2yz ) +
6
α (σmean
x + σ mean
y + σ mean
z )=β
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Findley
∆τ
+ kσ n = f
2 max
tension torsion
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Bending Torsion Correlation
Octahedral stress
Principal stress
0.5
0
0 0.5 1.0 1.5 2.0
Shear stress in torsion
1/2 Bending fatigue limit
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Dang Van
τ( t ) + aσ h ( t ) = b
Σij(M,t) Eij(M,t)
σij(m,t)
εij(m,t)
m
V(M)
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Isotropic Hardening
σ
Failure occurs when
the stress range is
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Multiaxial Kinematic and Isotropic
a) σ3 b) σ3
Yield domain
expands and
translates
Co
Oo Oo
σ2 σ2
Ro
σ1 σ1
c) d)
σ3 σ3 CL
Loading
path
RL
OL
ρ∗
Oo Oo
σ1 σ2 σ1 σ2
τ τ
τ(t) + aσh(t) = b
Failure
predicted
σh σh
Loading path
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Stress Based Models Summary
∆τoct
Sines: + α(3σh ) = β
2
∆τ
Findley: + kσ n = f
2 max
Dang Van: τ( t ) + aσ h ( t ) = b
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Model Comparison R = -1
10
Relative Fatigue Life
Goodman
1
0.1 Findley
0.01 Sines
0.001
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Torsion Tension Biaxial Tension
Stress ratio, λ
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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Strain Based Models
Plastic Work
Brown and Miller
Fatemi and Socie
Smith Watson and Topper
Liu
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Octahedral Shear Strain
0.1
Plastic octahedral
shear strain range
Torsion
0.01
Tension
0.001
10 10 2 10 3 10 4 10 5
Cycles to failure
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Plastic Work
1
102 103 104
Fatigue Life, Nf
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Brown and Miller
2 x103
Fatigue Life, Cycles ∆γ = 0.03
103
5 x102
2 x102
102
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Case A and B
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Brown and Miller ( continued )
ax i al
Uni
Equ
ibia
x ial
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Brown and Miller ( continued )
1
∆γ = ( ∆γ αmax + S∆ε αn ) α
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Fatemi and Socie
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Loading Histories
γ/ 3
ε
C F G
H I J
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Crack Length Observations
2.5
F-495 H-491
G-304
1.5
0.5
0
0 2000 4000 6000 8000 10000 12000 14000
Cycles
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Fatemi and Socie
∆γ σn,max τ'f
= (2Nf )bo + γ 'f (2Nf )co
1+ k
2 σ y G
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Smith Watson Topper
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SWT
'2
∆ε1 σ
σn = (2Nf )2b + σ'f ε 'f (2Nf )b+c
f
2 E
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Liu
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Cyclic Torsion
Cyclic Torsion
Shear Damage Tensile Damage
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Cyclic Torsion with Static Tension
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Cyclic Torsion with Compression
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Cyclic Torsion with Tension
and Compression
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Test Results
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Conclusions
All critical plane models correctly predict
these results
Hydrostatic stress models can not predict
these results
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Loading History
0.003
Shear strain
-0.003
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Model Comparison
Summary of calculated fatigue lives
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Strain Based Models Summary
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Separate Tensile and Shear Models
σ3 σ
σ1
σ2
σ1 = τxy
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Cyclic Plasticity
∆ε
∆γ
∆εp
∆γp
∆ε∆σ
∆γ∆τ
∆εp∆σ
∆γp∆τ
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Mean Stresses
σ 'f − σ mean
∆ε eq = ( 2 N f ) b + ε 'f ( 2 N f ) c
E
∆γ max σ'f −2σn
+ S∆εn = (1.3 + 0.7S) (2Nf )b + (1.5 + 0.5S) ε 'f (2Nf )c
2 E
∆γ σn,max τ'f
= (2Nf )bo + γ 'f (2Nf )co
1+ k
2 σ y G
'2
∆ε1 σ
σn = (2Nf )2b + σ'f ε 'f (2Nf )b+c
f
2 E
2
∆WI =[(∆σn ∆εn )max + (∆τ∆γ)]
1−R
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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Nonproportional Loading
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In and Out-of-Phase Loading
γ
1+ ν
εx εx = εosin(ωt)
t
εx ε
γxy γxy γxy = (1+ν)εosin(ωt)
t
∆γ
In-phase
εy γ
εx εx = εocos(ωt)
1+ ν
t
ε
γxy γxy = (1+ν)εosin(ωt)
t
Out-of-phase ∆γ
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In-Phase and Out-of-Phase
γ xy
2 τ xy
2
∆γxy
2 εx
∆2τxy σx
ε θ
1
∆ε x
∆σ x
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Loading Histories
εx εx
εx εx
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Loading Histories
in-phase
out-of-phase
diamond
square
cross
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Findley Model Results
∆τ/2 MPa σ MPa ∆τ/2 + 0.3 σ N/Nip
n,max n,max
in-phase 353 250 428 1.0
90° out-of-phase 250 500 400 2.0
diamond 250 500 400 2.0
square 353 603 534 0.11
cross - tension cycle 250 250 325 16
cross - torsion cycle 250 0 250 216
εx εx εx εx
in-phase
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Nonproportional Hardening
εx εx = εosin(ωt)
t
εx εx = εocos(ωt)
t
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In-Phase
600 300
Axial Shear
-600 -300
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90° Out-of-Phase
600 300
Axial Shear
-600 -300
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Critical Plane
-600 -600
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Loading Histories
0 1 2 3 4
5 6 7 8 9
10
11 12 13
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Stress-Strain Response
300 300 300
Case 1 Case 2 Case 3
0 0 0
Shear Stress ( MPa )
0 0 0
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Stress-Strain Response (continued)
300 300 300
Case 7 Case 9 Case 10
0 0 0
Shear Stress ( MPa )
0 0 0
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Maximum Stress
All tests have the same strain ranges
2000
Equivalent Stress, MPa
1000
200 2
10 103 104
Fatigue Life, Nf
Nonproportional hardening results in lower fatigue lives
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Nonproportional Example
σy σy σy σy
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Shear Stresses
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Simple Variable Amplitude History
150
0.006
εx σx
-0.006 -150
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Stress-Strain on 0° Plane
300 150
τxy
-0.003 εx 0.003 -0.005 γxy 0.005
-300 -150
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Stress-Strain on 30° and 60° Planes
300 300
30º plane 60º plane
-300 -300
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Stress-Strain on 120° and 150° Planes
-300 -300
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Shear Strain History on Critical Plane
0.005
Shear strain, γ
time
-0.005
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Fatigue Calculations
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An Example
Analysis model
Single event
16 input channels
2240 elements
From Khosrovaneh, Pattu and Schnaidt “Discussion of Fatigue Analysis Techniques for Automotive Applications”
Presented at SAE 2004.
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Biaxial and Uniaxial Solution
10-2
10-5
10-6
10-7
10-8
1 10 100 1000 10000
Element rank based on critical plane damage
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Nonproportional Loading Summary
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Outline
State of Stress
Stress-Strain Relationships
Fatigue Mechanisms
Multiaxial Testing
Stress Based Models
Strain Based Models
Fracture Mechanics Models
Nonproportional Loading
Stress Concentrations
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Notches
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Notched Shaft Loading
MT
MX
MY
σθ
τθz
σz
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Stress Concentration Factors
6
Stress Concentration Factor
Bending
5
d D
4
ρ
Torsion
3
D/d
2.20
2 1.20
1.04
1
0
0.025 0.050 0.075 0.100 0.125
Notch Root Radius, ρ/d
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Hole in a Plate
λσ
σθ
a τrθ
σ σ σr σr
θ
τrθ
r
σθ
λσ
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Stresses at the Hole
4
3
λ=1
2
1 λ=0
σθ
0
σ
30 60 90 120 150 180
-1
Angle
-2
λ = -1
-3
-4
1.5
1.0
τrθ
σ
0.5
0
1 2 3 4 5
r
a
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Torsion Experiments
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Multiaxial Loading
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Thickness Effects
Longitudinal Tensile Strain
0 0.004 0.008 0.012
Transverse Compression Strain
Thickness
0.001 50 mm
x
0.002 30 mm
y
0.003 15 mm z
100
0.004
0.005 7 mm
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Multiaxial Loading
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Applied Bending Moments
MX
MX
1 2 3 4
MY
MY
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Bending Moments on the Shaft
A
MY
MX
C
D B
C
A’ A
B’ D’
C’
D
Location
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Bending Moments
∆M A B C D
2.82 1 1
2.00 3 2
1.41 2 1
1.00 2
0.71 2
∆M = 5 ∑ ∆M 5
A B C D
∆M 2.49 2.85 2.31 2.84
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Combined Loading
σ
σ1 =
τ=σ 1.72σ
σ2 = −0.72σ
τ=σ
σ λ = −0.41
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Maximum Tensile Stress Location
σ σ
τ=σ τ
32° 45°
τ=σ τ
σ σ
Kt = 3 Kt = 3.41 Kt = 4
σ1 = σ σ1 = 1.72σ σ1 = τ
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In and Out of Phase Loading
In-phase Out-of-phase
Kt = 3 Kt = 4
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Multiaxial Loading
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Torsion Loading
MX
σT σ1
t1 t3
MT σz σ1 = σz
σT
MX
σT σ1 = σT
t2 t4
MT σz
σT σ1 σT
t1 t2 t3 t4
5 D
d D d = 2.2
Stress concentration factor
4
ρ
3
Kf Bending
2 Kt Bending
Kt Torsion
1 Kf Torsion
0
0.025 0.050 0.075 ρ 0.100 0.125
Notch root radius, d
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Fatigue Notch Factors ( continued )
bending
Peterson’s Equation
torsion
2.5
KT − 1
conservative Kf = 1 +
a
Calculated Kf
2.0 1+
r
1.5
non-conservative
1.0
1.0 1.5 2.0 2.5
Experimental Kf
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Fracture Surfaces in Torsion
Circumferencial Notch
Shoulder Fillet
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Neuber’s Rule
Actual stress
KtS
σ Kt S Kt e = σε
Stress (MPa)
ε
Stress calculated with
elastic assumptions
e
S ee = σ ε
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Multiaxial Neuber’s Rule
Define Neuber’s rule in equivalent variables
∆ e S 2 = E ∆ σ∆ ε
Stress strain curve
1
∆σ ∆σ n'
∆ε = +
E K'
Constitutive equation
σx εx
σy = εy
f(E,K’,n’)
τ xy γ xy
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Hoffman and Seeger
σ2 e
S2
= e
σ1 S1
ε2 e
e
= e 2
ε1 e1
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Glinka
Strain energy density
∆σij ∆εij ∆ e Sij ∆ e eij
=
∆eS ∆σ ∑ ∆σij ∆εij ∑ ∆ e Sij ∆ e eij
Stress (MPa)
∆ee ∆ε
Strain
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Koettgen-Barkey-Socie
Structural Yield Surface Material Yield Surface
e
Ko no σ
S K’ n’
Eo E
ε ε
e Sx εx σx εx
e
S y = fo(Eo,Ko,no) εy σ
y = f(E,K’,n’)
εy
e Txy γ xy τ xy γ xy
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Stress Intensity Factors
1.50
λ = −1
1.25
λ=0
1.00
σ
F 0.75 λ=1
R
0.50
λσ λσ
a
0.25
σ
0.00
1.00 1.50 2.00 2.50 3.00
a
R
= C (∆K eq )
da
K I = F ∆σ πa
m
dN
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Crack Growth From a Hole
λ = -1 λ = 0 λ= 1
100
80
Crack Length, mm
60
40
20
0
0 2 x 10 6 4 x 10 6 6 x 10 6 8 x 10 6
Cycles
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Notches Summary
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Multiaxial Fatigue