Solid Mechanics

Torsion

이태경 교수
부산대학교 기계공학부 금속설계연구실
taeklee@pnu.ac.kr http://medem.kr
Review & Preview
 Review & Preview
3장: 비틀림
• 기초 용어 정리 및 부호 약속
• 정정구조, TMD & TDD
• 부정정구조
• 경사응력
• 변형에너지 기반 계산
• 원형축에 의한 동력 전달
• 비원형단면
 Review & Preview
3장: 비틀림
• 기초 용어 정리 및 부호 약속
• 정정구조, TMD & TDD
• 부정정구조
• 경사응력
• 변형에너지 기반 계산
• 원형축에 의한 동력 전달
• 비원형단면
 Basic Concepts
• Torsion
– twisting of a straight bar when it is
loaded by moments, thereby
producing rotations about the
longitudinal axis of the bar

• Torques
– moments that produce the twisting of
a bar or shaft
 Basic Concepts
• Angle of Twist
– Torque on a shaft causes one end to
rotate through a small angle ϕ with
respect to the opposite end. Also
called “angle of rotation”.
Basic Concepts
 Torsional Deformation of Circular Bar
𝑑𝑑𝜙𝜙
• Shear Strain at the Outer Surface 𝛾𝛾max = 𝑟𝑟
𝑑𝑑𝑑𝑑
 Torsional Deformation of Circular Bar
𝑑𝑑𝜙𝜙
• Shear Strain at the Outer Surface 𝛾𝛾max = 𝑟𝑟
𝑑𝑑𝑑𝑑

ρ
• Shear Strains within the Bar γ = r γ max
ρ = internal radius
r = outside radius
 Torsional Deformation of Circular Bar
𝑑𝑑𝜙𝜙
• Shear Strain at the Outer Surface 𝛾𝛾max = 𝑟𝑟
𝑑𝑑𝑑𝑑

– Applicable for pure torsion only.

ϕ = angle of twist rφ
r = radius of shaft γ max =
L
 Torsional Deformation of Circular Tube

• Shear Strains in Circular Tubes:

r2φ r1φ
γ max = γ min = r1 = inner radius
L L r2 = outer radius
 Linear Elastic Circular Bars
• Hooke’s Law in Shear: τ = Gγ
 τmax = shear stress at the rφ ρ
τ max = G τ= τ max
outer surface L r
 The Torsion Formula
Tr 𝑇𝑇𝜌𝜌
τ max = 𝜏𝜏 =
Ip 𝐼𝐼𝑝𝑝

𝜌𝜌 𝜏𝜏max
• 𝑇𝑇 = ∫𝐴𝐴 𝜌𝜌(𝜏𝜏𝑑𝑑𝑑𝑑) = ∫𝐴𝐴 𝜌𝜌 𝜏𝜏max 𝑑𝑑𝑑𝑑 = ∫𝐴𝐴 𝜌𝜌2 𝑑𝑑𝑑𝑑
𝑟𝑟 𝑟𝑟
• 𝐼𝐼𝑝𝑝 : the polar moment of inertia

• Relates shear stress with torque through the

integration of elemental moments across the
cross section of a circular shaft
Angle of Twist

rφ
τ max = G
L TL
φ=
Tr GI p
τ max =
Ip
 Angle of Twist
• From the torsion formula: φ = TL
GI p

• Torsional Rigidity: GIp

GI p
• Torsional Stiffness: kT = L

L
• Torsional Flexibility: fT =
GI p

Tr 𝑇𝑇𝜌𝜌
τ max = 𝜏𝜏 =
Ip 𝐼𝐼𝑝𝑝
 Solid Shaft
𝜌𝜌 𝜏𝜏max
• 𝑇𝑇 = ∫𝐴𝐴 𝜌𝜌(𝜏𝜏𝑑𝑑𝑑𝑑) = ∫𝐴𝐴 𝜌𝜌 𝜏𝜏max 𝑑𝑑𝑑𝑑 = ∫𝐴𝐴 𝜌𝜌2 𝑑𝑑𝑑𝑑
𝑟𝑟 𝑟𝑟

• Polar Moment of Inertia

– Also called “second polar moment of area”
– Resistance to torsional deformation
𝜋𝜋𝑟𝑟 4 𝜋𝜋𝑑𝑑 4
– 𝐼𝐼𝑝𝑝 = = [mm4]
2 32
 Hollow Shaft
• The polar moment of inertia is
modified to account for the
hollow center of the circular
tube: I p= π (r2 4 − r14 )= π (d 2 4 − d14 )
2 32
𝜋𝜋𝑟𝑟𝑟𝑟 2 2
𝜋𝜋𝑑𝑑𝑡𝑡 2
= 4𝑟𝑟 + 𝑡𝑡 = 𝑑𝑑 + 𝑡𝑡 2
2 4

• If the tube is relatively thin so that

the wall thickness t is small
compared to the average radius, an
π d 3
ave t
approximate formula can be used: I p ≈ 2π rave t =
3

4
 Example
Why do manufacturers make the hollow shaft?
 Nonuniform Torsion − Case 1
• Prismatic segments with constant
torque in each segment
• Determine the magnitude and
direction of the internal torque for
each segment through the “cut”
method

• Sign Convention
 Vector Points Away: Positive (+)
 Vector Points Inwards: Negative (−)

or
 Nonuniform Torsion − Case 1
• Angle of Twist for a Segmented Shaft:
n n
Ti Li
φ = φ1 + φ2 + ... + φn =φ ∑=
∑
φi
=i 1 =i 1 Gi ( I p )i
 Nonuniform Torsion − Case 2
• Angle of Twist for a Varying Cross Section:
L L
T ( x)dx
φ
= ∫=
dφ
0
∫0 GI p ( x)
 TDD & TMD
L L 𝐵𝐵
T ( x)dx 𝑇𝑇(𝑥𝑥)
φ ∫=
= dφ ∫ 𝜙𝜙𝐵𝐵 − 𝜙𝜙𝐴𝐴 = � 𝑑𝑑𝑑𝑑
0 0
GI p ( x) 𝐴𝐴 𝐺𝐺𝐼𝐼𝑝𝑝

• Slope of TDD = TMD/GIp

• Change of TDD = (Area of TMD)/GIp
 Example
450 N∙m
275 175 Solid steel shaft ABCDE
N∙m N∙m (d = 30 mm, G = 80 GPa)
1. Maximum shear stress?
2. Angle of twist at D?

500 mm 400 mm
Example

dbolt = 22.2 mm G = 81 GPa, di = 254 mm,

τa,bolt = 193 MPa L = 3.05 m, tAB = 19 mm,
r = 381 mm tBC = 16 mm, Фa = 0.5°

How many bolts are required

in flange plate?