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Snap-through buckling of a simple frame with a tangential load

Article in Acta Mechanica · March 1980

DOI: 10.1007/BF01178240

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Tassos P. Avraam Anthony Kounadis

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Acta Mechanica 36, 119--127 (1980) ACTA MECHANICA
| by Sprhlger-u 1980

Notes

Snap-Through Buckling of a Simple Frame with a Tangential[ Load

By

T. P. Avraam, M. A. Pantis, and A. N. Kounadis, Athens, Greece

With 3 Figures

(Received .May 81, 1979; ~'evised July 2, 1979)

1. Introduction

In the last thirty years, the post-buckling response of discrete and continuous
systems subjected to conservative loads has been studied extensively [1], [2], [3],
[4], [5], [6]. The total potential energy of such systems is usually the basis of
these analyses. However, if these systems are acted upon by nonconservative
forces which do not possess a potential, the aforegoing methods become inappli-
cable. In that case the linear dynamic analysis [7], [8], [9] should be employed;
the linear static analysis [10], [11] might also be applied in some nonconservative
systems. Nevertheless, a linear (either dynamic or static) stability analysis leading
to a nonselfadjoint eigenvMue problem clearly does not give any information as
far as the character of the critical equilibrium state is concerned; it is stable or
unstable? In addition to this, the application of a linear stability analysis may
lead to appreciable errors in estimating the actual load-carrying capacity of
conservative [5] or nonconservative systems.
In the light of the aforegoing developement, it is evident that a nonlinear
formulation for establishing the actual (prebuckling and postbuckling) behavior
of noneonservative systems at least in the neighborhood of the critical point is
needed.
Nonlinear stability analyses of discrete nonconservatively loaded systems have
been presented recently by Burgess and Levinson [12], and later on by Plaut
[13]. The first post-buckling analyses of continuous nonconservative systems are
reported by Kounadis, Girl and Simitses [14], Plaut [15] and Kounadis [16]. In
reference [15], it was shown that the Beck's column loses its stability through a
stable (symmetric) bifurcation point, while in reference [14], [16] it was shown that
the loss of stability of a simple two-bar frame takes place through an unstable
(asymmetric) bifurcation point. In the last reference the effects also of some
parameters (i.e. slenderness ratio, lengths and moment of inertia ratios and the
transverse shear effect) were also discussed.
The objective of this investigation is to give more insight into the post-
buckling response of continuous nonconservatively loaded systems by using a

0001-5970/80/0036/0119/$01.80
120 T.P. Avraam, lV[.A. Pantis, and A. N. Kounadis:

nonlinear static approach. To this end a two-bar frame will be used as a model.
In this frame, contrary to t h a t previously studied [14], [16], the support of the
vertical bar is fully fixed. Thus, from the onset of loading the primary p a t h is
associated with bending. The nonlinear equilibrium equations are derived on the
basis of the principle of virtual work b y utilizing linear constitutive equations and
nonlinear strain-displacement (kinematic) relationships. Third order effects on the
curvature are neglected. Accordingly this analysis is valid for moderately large
displacements. Finally, it is assumed that each bar of the frame has a constant.
cross-section without carrying any concentrated masses.
Numerical results are obtained by means of a usual hand calculator.

2. h'onlinear Formulation

The geometrically perfect frame shown in Fig. 1 is made of homogeneous, iso-

tropic and linearly elastic material with modulus of elasticity E. Each bar has
length [i, constant cross-sectional area A~ and constant moment of inertia If
(i = 1, 2). The frame is acted upon by a compressive follower force P of constant
magnitude applied at its joint; this force during deformation remains tangent at
that point to the center line of the vertical bar. Let wi, #~ be the transverse and
axial displacement components of the center line of the ith bar with the sign
convention shown in Fig. 1.

iP
i r2

,w2

--// ---g

Fig. 1. Geometry and sign convention

By resolving the follower force into a horizontal (nonconservative) component

and a vertical (conservative) component one m a y assume that at the instant, of
buckling the following approximations can b e made

fi2 sin w1'(1 ) ~ flew1'(1 )

(1)
~ cos w~' (1) ~ [S~

in which fi2 = p l l e / E i 1 and ( )' ~- d( )/dx.

 Snap-Through Buckling of a Simple Frame 121

For an Euler-Bernoulli bar subjected to in plane deformation the functional of

the elastic strain energy is given by

U = a~.e~.~: clV (2)

- v
fff
where V is the volume of the bar in the undeformed state, while axx and Sxx
denote generalized stresses and generalized Lagrangian strains.
For an axially stressed bar subjected simultaneously to bending on the basis
of the linear curvature-displacement relationship and nonlinear axial strain-
displacement relationship the aforegoing functional in dimensionless form be-
comes
1

l i0,2)2@W,2)dx (3)
0

where 2 is the slenderness ratio of the bar.

Application of the principle of virtual work for the frame and usage of relations
(1) and (3) lead to
1

0
1

+ ~wl'(1) ~w~(1) - ~2~o~w2(1) -- o

where ,u = I211/II12 and ~o = 12/ll.

The geometric boundary conditions, a priori known, are the following

~1(o) = ~(o) =.w~'(o) =w~(o) = o

(5)
!
Performing the variations, then integrating by parts, using conditions (5) and
collecting terms with the same variation, Eq. (4) results in the following differen-
tim equations

--212 ~ l ' + y w l '2 = 0

- Z 2 2 ,2 ' T w2'2 =0
} (6>
[( ' ) I
wl .... --~1 ~ ~ 1 ' + ~ w l '~ w,' =0 [

w2.... --22 ~ [( ' ) ;

23'§ '~ w2' -=0. I
122 T.P. Avraam, M. A. Pantis, and A. N. Kounadis:

The natural boundary conditions resulting from this procedure are

&~ [ ~'(o) + ~-
1 w2,2(0)] - - 0

w~"(0) = 0

fi'~wl'(1)--wl'"(l)@ 212[~:1'(l)-~ ~ ] wl'(1)

+ t=- ! 2 202 [ ~ 2~' ( 1 ) @

o ~] (7)

~;.12 [~21t([) -~ ~-Wl'2(1)j ~-~Of12-~ #wo'"(1)

-- ~;@ [ ~2'(1) + ~-~ w2"~(1)] w , ' ( 1 ) = 0
Wl"(1 ) ~- /~W2tt(1) = O.

.Note that if the term fi2w,'(1) in Eq. (7) is dropped the loading becomes conser-
vative.

3. Integration of Equations

In view of the first of relations (7), Eqs. (6) and (7) can be transformed as
~ollows
, 21__ k2

~.~ + y w~'~ = 0 (8)

wl .... § k~w, . . . . 0
W2'"' -- 0

and
1
#/(0) + g w ;2(0) = 0 /

w2"(0) = 0 !
(~2 -- ]~2)/~U1'(1) - - %oltt'(1) = 0 [ (9)

( ~ - k 2) o + ~w~'"(1) = 0
w1"(1) + ~o~"(~) = 0. }

Integration of the last two of Eqs. (8) by virtue of the support conditions (5)
and the second of Eqs. (9) yields
qJgl(Xl) = A(sin k x 1 - - kxl) + fl(cos ]~X 1 -- 1) /
(1o)
w2(x~) = -Yx2 ~ + Px2.
 Snap-Through Buckling of a Simple Frame 123

I n t e g r a t i n g now the first two of Eqs. (8) using Eqs. (10) a n d the support
condition ~(0) = 0, the following equations are obtained

~1(xl) =
k2
- - - - Xl --
zl 2
k2
[(
A 2 3xl q-
-i-
sin2kx 1
9,k
4si
;)kx 1 ~-B
(
2 x~
2k ]
+ - ~ (cos 2~xl - 4 c o s kxl + 3)] (11)

~(x~) - wl(~) + -21 1L4o A 2 ( 1 - x25) @ 2 X P ( 1 - x23) ~- P ~ ( 1 - x.)]J

Subsequently the constants of integration can be d e t e r m i n e d as below.

F r o m the last of kinematic continuity conditions (5) and from the last of
Eqs. (9), one can find

.51 =- ~fi2(k2 - - fl~) sin k

k~[fi2 + (k2 _ fi2) cos/~]
B = e(k2 -- f12) [k2 + fl~(cos k - 1)]
k2[fi 2 + (k 2 - - fl~-) cos k] (12)
X- ~ (k2-/~2)
6

P = o(~ - ~) [~2 + (k. -- F~) ~o~ k] +

F r o m the remaining condition given in Eqs. (5) the following nonlinear
equilibrium equation with respect to k is established

= 21--~+--i- -[( A 2 3 q-
sin 2k
2k
4 sin k\
k ]
(la)
+ B 2 (1 - - sin~ 2k // + ~ (cos 21~ - 4 cos k ~- 3].

Substituting the expressions of Eqs. (12) into Eq. (13), after some manip-
ulation and r e a r r a n g e m e n t , it follows t h a t
1 k2 (k2 _ fl2)2 {
-~2
- - -)~12+ 4ka[/~2 + (k2 _/?2) cos k] 2 9 (fi2)213k+ sin k(cos k -- 4)] sin k e

2fi2(c~ k - 1)2- ] sin k]} (14)

+[fl'(eosk--1)+k']'.[k--[cosk
- -

[~2(~os~7--i~+k.,] j

+ (k 2 _ f12) [fi2 + (k2 _ ~ ) cos ~] + - - O.

4. Numerical Solution and Discussion

The nonlinear equilibrium Eq. (14) with respect to the nondimensionaliz-

ed axial (compressive) force k depends on the nondimensionalized load f12,
the p a r a m e t e r s ~, /~ and the slenderness ratio 21 of the vertieal bar. For given
124 T.P. Avraam, M. A. Pantis, ~nd A. N. Kounadis:

values of these parameters and for each level of the load fl~ one can establish all
equilibrium paths as plots of fis versus some characteristic displacement i.e. wi(1 )
or w/(1). Once these plots are obtained the critical load is determined either as a
timit point (maximum on the load versus eharacteristie displacement curve) or as
a bifurcation point.
The solution of the aforegoing nonlinear equilibrium equation is accomplished
by employing the Newton-Raphson numerical scheme. Numerical results are
presented in both graphical and tabular form and are generated by means of a
programmable hand calculator.

-- stable path
. . . . unstable path

I i ~ I ---4
S 10 15 20 %o(1)x102

Fig. 2. Nonlinear equilibrium path of the load /~ versus joint rotation q9 for o = 0.25,
# = 16 a n d ; t = 80

Fig. 2 shows the relationship between the joint rotation r = w'(1) and the
nondimensionalized load ~2 for a two-bar frame with ~o = 0.25, ,u = 16 and
L~ = 80. I t is clear t h a t this frame loses its stability t h r o u g h a limit point. At
each level of t h e loading there are two different values for the joint rotation 9
corresponding to the two different values of the nondimensionalized axial force k.
The limit point load is
r = 10.2277 (15)

while the corresponding joint rotation is

~ = o.o14s. (16)

Fig. 3 illustrates the nonlinear equilibrium p a t h as a curve of the load ~2

versus the horizontal deflection wl(1) of the joint. Similarly, it is evident that
this frame is associated with a limit point instability. The limit point load is
equal to t h a t given b y Eq. (15), while the horizontal deflection of the joint is
equal to
wler(1) = --0.0607. (17)
 Snap-Through Buckling of a Simple Frame 125

i ~\~Physicallypathunacceptable
Limit paint '\xx
\

- - ~table path
--- unstable path

)
2-

- - ! I ] I .... i - / : !
-lO -5 0 5 10 w(DxlO 2

Fig. 3. Nonlinear equilibrium path of the load f12 versus the horizontal deflection wl(1 )
of ~he joint for ~o ~ 0.25,/z = 16 and ,,1,= 80

I n T a b l e 1 o n e c a n see t h e n u m e r i c a l v a l u e s of k 2 (two for each ~2), q = w((1)

a n d w1(1) for v a r i o u s levels of t h e l o a d f12 ( > 10).

Table 1. #2, wl(1), (p/or various values o/f12

fl~ k ~" wl(1) (p

10 (8.201877 29) --0.07146109 0.030090 325

9.14665816 - 0.038 905 69
- 0.006 957 876
10.15 (8.503 941377) -- 0.068 65740 0.022 82140
9.071867 60 --0.048 753 940 0.009 354 486
10.20 (8.65322981) -- 0.065 985 849 0.019 284 668 6
8.995 457 72 - 0.053 932 04
- 0.011247 32
10.225 (8.788534193) --0.062498 49 0.0161099215
8.896 036 235 -- 0.058 703 066 0.013 596775
10.227 7 (8.840 944 372) --0.0607860907 0.0148850621
8.847 478 868 --0.060555328 0.0147323755
10.227 710 0 (8.844 07923) --0.06067589 0.014811813
8.84436123 --0.060 665 93 0.014 805 224
T h e last v a l u e of fla c o r r e s p o n d s to t h e l i m i t ( s n a p - t h r o u g h ) p o i n t load, i.e.
~cL = 1 0 . 2 2 ~ 0 o .

S u b s e q u e n t l y , t h e s l e n d e r n e s s ratio ~1 effect u p o n t h e l i m i t p o i n t l o a d of
t h e p r e v i o u s f r a m e (~ = 0.25, # - - 16) is discussed. F o r i n s t a n c e , if 2j = 40,
E q . (14) y i e l d s

~c~ = s.s79 9
(is)
k~r = 7.485 1.
126 T . P . Avraam, 5[. A. Pantis, and A. N. Kounadis:

The c o r r e s p o n d i n g j o i n t d i s p l a c e m e n t c o m p o n e n t s a r e

(Per = 0.0370
(19)
Wl~r(1) = 0.0464.

Thus, one can d r a w t h e following i m p o r t a n t conclusion: W h e n t h e slenderness

r a t i o )~ of t h e f r a m e decreases b y 50% t h e r e is a r e d u c t i o n of t h e l i m i t p o i n t
l o a d b y a b o u t 15~ . A similar effect referring to a c o n s e r v a t i v e f r a m e has been
r e p o r t e d in reference [5]. I t should be o b s e r v e d t h a t t h e Slenderness ratio )~1
does not, a t all, affect t h e l i n e a r (either s t a t i c or d y n a m i c ) b u c k l i n g load. T h e r e f o r e
such a n effect is a b y - p r o d u c t of t h e n o n l i n e a r f o r m u l a t i o n of t h e p r o b l e m .

5. Conclusions

The following constitute the most important findings of this investigation.

I. The nonlinear static stability analysis may be employed for establishing
the equilibrium (primary and secondary) path as well as the critical load of a
noneonservative two-bar frame.
2. The nonconservatively loaded frame is associated with a snap-through
buckling losing its stability through a limit point.
3. The decrease of slenderness (stubby columns) has a considerable destabilizing
effect upon the frame. This parameter has no effect on the linear (static or dynamic)
critical load. A c c o r d i n g l y a n a p p r e c i a b l e d i s a g r e e m e n t b e t w e e n t h e linear a n d
n o n l i n e a r (actual) critical l o a d m a y exist.

References

[1] Koiter, W. T.: On the stability of elastic equilibrium. Thesis, Delft, 1945 (in Dutch),
English Translation NASA TTF 10833 (1967).
[2] Koiter, W. T.: Stability of equilibrium of continuous bodies. Teeh. l~ept. No. 79,
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[3] Budiansky, 13.: Theory of buckling and post-buckling behavior of elastic structures.
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[4] Thomson, J . M . T . , Hunt, G . W . : A general theory of elastic stability. London:
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[5] Kounadis, A. N., Girl, J., Simitses, G. J.: Nonlinear stability analysis of an eccentri-
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 Snap-Through Buckling of a Simple Frame 127

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T. P. Aw'aam, M. A. Pantis, and Pro]. A. N. Kounadis

Civil Engineering Department
National Technical University o] Athens
Athens, Greece

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