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J. T. Oden
Associate Professor of Engineering Mechanics
W. K. Kubitza
Professor of Engineering Mechanics
University of Alabama Research Institute
University of Alabama in Huntsville
Huntsville, Alabama
U. S. A.
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ff 653 July 65
CONTENTS
NOTATION
1. INTRODUCTION
1.1 Opening Remarks.
1.2 Previous ,Related Work.
1.3 Scope.
2. GEOMETRIC AND KINEMATIC CONSIDEFATIONS
2.1 The d i s c r e t e Model.
2.2 S t r a i n s and Displacements.
NOTATION
Material constants
Components of rigid-body t r a n s l a t i o n
Deformation r a t e tensor
Element i d e n t i f i c a t i o n index
E l a s t i c moduli
Yield surface
A surface tensor
Shear moduli
S t r a i n invariants
Hydrostatic pressure
Ekternal pressure
Heat input
U Total i n t e r n a l energy
'Ni
Displacement of node N i n Zi-direction i n global coodina,tes
6ij Kronecker d e l t a
€ Two-dimensional permutation symbols
H Kinetic energy
Poisson's r a t i o s
Mass d e n s i t i e s
5
0. S t r e s s tensor
a@
-0 Deviatoric s t r e s s 'censor
a@
R Power of e x t e r n a l forces
R Multi-dimensional array
iWe
6
1 INTRODUCTION
the face of complex geometries, t h e engineer must look upon the recent; .trend
greater than u n i t y are not uncommon, and i n such cases Hooke's l a w i s not
order of 400 per cent were encomtered when measured s t r e s s e s were compared
t h i s paper.
1.2 Previous Related Work. Since 1950, Lhe technical l i t e r a t u r e has contained
deformed geometry. Argyris k,31, Gallagher and Padlog Csl, and Martin C5I
by Oden C9,lOl and Oden and Sat0 [111. Using a somewhat d i f f e r e n t approach,
st r uctux a 1 behavior .
1.3 Scope. In t h e discussion t o follow, t h e basic philosophy of t h e f i n i t e
data.
/*3
denoted %ie.
2.1 S t r a i n s and Displacements. I n order that the present discussion be self-
d. = k u
1 N Ni
and
a = c (4)
ia dN'Ni
a
kl = -(
1
. x21x32 - X31x22)
k 2 = l ( x x - x x )
2Ao E 31 11 32
k = L ( x x - X x )
3 a0 11 22 12 31
and
I n these equationq, xNa (N = 1, 2, 3; a = 1, 2) a r e t h e l o c a l coordinates
a t h i n membrane i s given by
Ya3 = 0
- 1(h2 - 1)
y33 - 2
x = -h (9)
ho
where ho and h a r e t h e thicknesses of t h e membrane before and a f t e r deformation
respectively.
contains two nodes and since t h e displacements are l i n e a r along each edge,
I2
= - x4 + X2 I
1
1
+-I
A2 3
where
and cap, ExtJ. are the two-dimensional permutation symbols (El2 = 1, E21 = -1,
i+ir=n+g (J-3)
wlicre X i s t h e t i m e r a t e of change of k i n e t i c energy, U i s the time rate of
U = I P S dv
V
= ‘F.G.Pdv + SiGi ds
J 1 1
V S
v
PH dv +
s
S
gini ds
found t h a t
and
of mass,
16
Povo = Pv (17)
where
where %i
.. are t h e components of acceleration of the nodes. This r e l a t i o n
QD the c ~ n s t i t ~ t i vequations
e r pp3;iteriaZ of.&&
f ~ the .Ithe element is
of t h e element.
.
The r a t e of change of i n t e r n a l energy 5 i s , i n general,
3.2 I n t e r n a l Energx.
To apply equation to s p e c i f i c kmterials, it i s
.
necessary to obtain < a s a function of
this
thermal e f f e c t s a r e omitted,
0..d
13 i j
= 0 c
ij iN
(6k j + c j M k ) C m
P0 = J i 5 P
for s p e c i f i c materials.
mmbranes .
4.1 E l a s t i c Materials. I n t h e case of e l a s t i c materials, t h e s t r e s s a i j i s
t
Introducing these equations i n t o Eq. (21) and simplifying t h e results, we
obtain
Therefore
where
-%i i s t h e prescribed l a r g e displacement a n d w is a small perturbation.
Ni
Then
where
P (34)
Ni
formulas
20
I = l
3
q-J3 = 0 (37)
I L
Thus /
rubbers
w = c(11 - 3) (43)
and
(46)
and
whereini, j , L , M , N , K = l , 2, 3 ; a , @ , h , ! J . = l , 2.
Introducing Eq. (42) and Eqs. (44)-(47) i n t o Eqs. (34) and ( b o ) , we
material C 113,
where
energy functions for such materials even through t h e i r behavior i s not always
perfectly elastic. These have led t o highly nonlinear forms for the
Nk
- 3)1(S,p - 4
“ae>
- 4 4 2
2h - 21 Yw) f
baPll
a s before, s t r e s s e s a r e computed by means of Eq. (b).
tensor i s given by
I
‘a@ = Ea@&yXp= % ~ ~ ~ “ x N ( ‘ $ & l 5 “@M1-k%i 1 (544
middle surface a
constants h.1:
El = kE + (1-k)E
EZ
E =
2 kE + (1-112
GE (57)
G =
C kG + (1-k)G
E1122= E2211
-
= (au + a22 bGc)sin2a cos 2U + a (sin4a
12
+ cosk)
E2222= allsin 4a f a 2 2 a~ +~2(a12
~ + 2Gc)sin2a cos2a
4 (58)
- - (aLE + a - 2aE)sin2a cos%
Ek7m= Ea221 - = 5323. 22
+ ~,(cos% - s i n k ) 2
- - - - =o
E1112= E1121 - E2212 - E2221 - E1211- E1222
where
- El .- (59)
a22 - 1 - V 2 E 'E,
c l ,
T= -02
large displacements but strains which are small i n comparison with unity,
Here AM^ and Bapxp a r e arrays of material parameters and may be f'unctions
%'Mi
.. + caNcxI(si@ + C@~uMi)C&@)$.(dwm + $w',Jm)u&B@lp(6pm
+
case indices t o 2:
f i n i t e element and l e t boa@, hap, 6pNi, and 811s-i denote small imxements i n
e a s i l y shown t h a t
e
where 8YaB i s t h e e l a s t i c s t r a i n increment and 8Yp i s t h e p l a s t i c s t r a i n
aa
increment. The term (bpi+ c @ ~ u & i) n Eq. (65c) represents t h e inflxence of
to
0
i n which the arra-y Eo may, i n general, be a flmction of Yap.
aSw
The yield condition may be represented by a convex y i e l d surface i n
f(Oij) = 0 (67)
t h e form
p l a s t i e s t r a i n increment i s given by
we f i n d t h a t
Thus
(73 )
where
(74 1
to those of the small displacement case and can be found In references f-221
and f-231.
where t h e underscore (-
e ) indicates t h a t no sum i s t o be taken on the repeated
index e .
-
I n these equations, pMie, uMie,
- . ..
and %ie
-ke, a r e respectively,
element e i n t h e d i r e c t i o n of Zi,
-xie a r e t h e rotated local coordinates
defined i n Eq. (I), and Pkie i s t h e cosine of t h e angle between Xie and xke
The ranges of t h e indices i n these equa,tions a r e M, i, k, = 1, 2 , 3 and
where
n = 5 i n Fig. 4.
I
X 2
Mie Ni
e = 1,2,3,4 (ELEMENT INDEX) N = I ,2,3,4,6 (GLOBAL NODE INDEX)
M = 1,2,3 (LOCAL NODE INDEX) i 8 l,2,3 (COORDINATE INDEX)
i = 1,2,3 (COOROINATE INDEX 1
-x = a z
M ie MNe Mi
.. .
P 6
Ni Ni
= %U M iUN i + Po<dVo
VO
where Ee
e=l
I n t h i s case N, M = 1, 2 ..., n; R , S = 1, 2, 3 and t h e Lntegration i s
relakions of t h e form
33
J?
Mie
(85 I
where
is
34
z
i (node 3 ) .
The components ni of the u n i t normal are obtained by forming
ni =aL' i j k Z l j Z 2 k (92)
repeated index e.
node forces 5Nie of Eqs. (78) and (85). It i s seldom necessary t o transform
i n matrix form a s
37
H ( U ) =O (97)
we f i n d
-1
U= Uo - J ( Uo) H ( Uo) (100)
experimental or a n a l y t i c a l data.
IO00
900
8 00
@J
- 700
3E 600
tT
Y
u 500
in
2
a
400 -
A=+ FINITE ELEMENT
KUHN
300
200
IO0
4
IO 20 30 40
(C)
FIG. 5 Plane s t r e s s In a s t i f f e n e d panel.
FIG. 6 Bilinear stress-strain law.
60cm
approximately 16.32 kg .
6.4 I n f l a t i o n of an I n i t i a l l y F l a t Rubber Membrane. I n a recent paper, Hart-
external pressure. The membrane i s i n i t i a l l y 50.8 mm.in diameter and 0.2 mm.
40
E
E
U
2 30
W
25
w
0
4
1
a
v)
23 20
a
w
I-
z 0 EXPERIMENTS, NEUBERT zf SOMMER
W
0 -
--I
FINITE ELEMENTS
FOPPL'S THEORY
--- HENCKY'S THEORY
I I I I I 1 I I I I
I 2 3 4 5 6 7 8 9 10
PRESSURE ( ATMOSPHERES 1
E =4 16 t
17.0
cn 16.5
X
U
w
0
LT
0
LL
16.0
W
12 24 36 40 I 72
NUMBER OF ELEMENTS
FIG. 9 F i n i t e stretching of a square rubber shest.
40
ments. Thus, more than one equilibrium configuration can exist f o r a given
-
-I- MEASURE0 HART-SMITH
THEORY 1 8 CRISP
1 I.'
T-"
cm.) thick and 15.0 i n , (38.1 cm.) i n diameter, of pure gum natural rubber sheet
were clamped around t h e i r edges i n a metal clamp, The disks were marked a t
~ c2 = 0.14 kg/cm2 determined by t h e method of Hart-Smith and Crisp C32I and data i n
Figure 13. No attempt was made t o predict t h e obvious viscoelastic character
6 80
k3
LI
0
E
U
E 60
W
U
3
v,
v,
2e 40
20
a I I I * I
2 3 4 5 6
-..-
- MEMBRANE
-01. FINITE ELEMENT
h AXIS OF SYMMETRY
19.05 cm
REFERENCES
1. TURNER, M. J., DILL, E. H., MARTIN, H. C., and MELOSH, R. J., " h r g e
,
Deflections of Structures Subjected t o Heating and External Loads I' Journal
of t h e Aero/Space Sciences, V o l . 27, February 1960, pp. 97-106.
PP* 45-51.
24. HILL, R., The Mathematical Theory of P l a s t i c i t & Oxford University Press,
London, 1950.
25. REMMLER, K. L., CAWOOD, D. W., STANTON, J. A., and HILL, R . , "Solutions
of Systems of Nonlinear Equations, I' Lockheed MSC/HREC , NASA 8-20178,
October 1966,
11
26. SPRANG, H. A,, "A Review of Minimization Techniques for Nonlinear Functions,
SLAM Review, Vol. 4, No. 4, October 1962, pp. 343-364.
27. BROOKS, S. H., "A Comparison of Maximum Seeking Methods ,
" Journal of
Operations Resea-rch, V o l . 7, 1959, pp. 430-457.