The Finite Element Method

CHAPTER 1:
INTRODUCTION TO MECHANICS
FOR SOLIDS AND STRUCTURES

1
 CONTENTS
 INTRODUCTION
◦ Statics and dynamics
◦ Elasticity and plasticity
◦ Isotropy and anisotropy
◦ Boundary conditions
◦ Different structural components
 EQUATIONS FOR 3D SOLIDS
 EQUATIONS FOR 2D SOLIDS
 EQUATIONS FOR TRUSS MEMBERS
 EQUATIONS FOR BEAMS
 EQUATIONS FOR PLATES

2
INTRODUCTION
 Solids and structures are stressed when they
are subjected to loads or forces.
 The stresses are, in general, not uniform.
 The stresses lead to strains, which can be
observed as a deformation or displacement.
 Solid mechanics and structural mechanics
deal with the relationships between stresses
and strains, displacements and forces, strains
and forces for given boundary conditions of
solids and structures.

3
Statics and Dynamics
 Forces can be static and/or dynamic.
 Statics deals with the mechanics of solids
and structures subjected to static loads.
 Dynamics deals with the mechanics of solids
and structures subjected to dynamic loads.
 As statics is a special case of dynamics, the
equations for statics can be derived by
simply dropping out the dynamic terms in
the dynamic equations.

4
Elasticity and Plasticity
 Elastic——the deformation in the solids
disappears fully if it is unloaded.
 Elasticity deals with solids and structures
of elastic materials.
 Plastic——the deformation in the solids
cannot be fully recovered when it is
unloaded.
 Plasticity deals with solids and structures
of plastic materials.
5
Isotropy and Anisotropy

 Anisotropic material——the material

property varies with direction.
 Isotropic material——property is not
direction dependent, two independent
material constants.

* Isotropic materials are a special case of

anisotropic material.

6
Boundary Conditions
 Displacement (essential) boundary
conditions
 Force (natural) boundary conditions

7
Different Structural Components
 Structures are made of structural components
that are in turn made of solids
 There are four most commonly used
structural components: truss, beam, plate,
and shell.

8
Different Structural Components
 Truss and beam
structures

y fy2

z fy1
x x
z
fx

Truss member
Beam member

9
Different Structural Components

 Plate and shell

structures

10
EQUATIONS FOR 3D SOLIDS

 Stress and strain

 Constitutive equations
 Dynamic and static equilibrium equations

11
 Stress and Strain

 Consider a continuous 3D elastic solid

with a volume V and a surface S.
 The surface of the solid is further divided
into two types of surface: Sf and Sd
 The solid can also be loaded by body
force Fb and surface force Fs
12
 Stress and Strain
 Stresses at a point in a 3D solid:
z

 xz   zx zz
zx zy

 zy   yz yy yx
xy
xz xz
xx yz
yy

 xy   yx
yz xy yx y
xx
zy zx

 
zz

   xx  yy  zz  yz  xz  xy
T x

13
Stress and Strain
 Strains


   xx  yy  zz  yz  xz  xy
T

u v w
 xx  ,  yy  ,  zz 
 x  y  z
u v u w v w
 xy   ,  xz   ,  yz  
 y  x  z  x  z  y

14
Stress and Strain
 Strains in matrix form
  LU
where
  x 0 0 
 0  y 
 0  u 
 0  z   
0 U  v 
L   w
 0  z  y   
  z 0  x 
 
 y  x 0 
15
Constitutive Equations
=c
or
 xx   c11 c12 c13 c14 c15 c16   xx 
   c22 c23 c24 c25  
c26  yy  
 yy   
 zz   c33 c34 c35 c36   zz 
     

 yz   c44 c45 c46   yz 
 xz   sy. c55 c56   xz 
    
 xy   c66   xy 
16
Constitutive Equations
 For isotropic materials

 c11 c12 c12 0 0 0 

 c11 c12 0 0 0 
 
 c11 0 0 0 
 c11  c12 
c 0 0 
 2 
 c11  c12
sy. 0 
 2 
 c11  c12 
 2 
E (1  ) E
c11  , c12 
(1  2 )(1   ) (1  2 )(1   )
c11  c12 E
G , G
2 2(1   )
17
Dynamic Equilibrium Equations
 Consider stresses on an infinitely small
block
zz+dzz
zx+dzx zy+dzy

xx yz+dyz
xy
yy yy+dyy
yx xz+dxz
z yz xz yx+dyx
xy+dxy
dz xx+dxx
zy zx
dx
dy zz

y
x

18
 Dynamic equilibrium equations
 Equilibrium of forces in x direction
including the inertia forces

( xx  d xx )dydz   xx dydz  ( yx  d yx )dxdz   yx dxdz 

( zx  d zx )dxdy   zx dxdy  f x dxdydz  udxdydz zz+dzz
zx+dzx zy+dzy

 xx xx yz+dyz
Note: d xx  dx , xy
x yy yy+dyy
yx xz+dxz
 yx xz
d yx  dy , yz xy+dxy yx+dyx
y dz xx+dxx
 zx zy zx
d zx  dz dx
z
dy zz 19
Dynamic equilibrium equations
 Hence, equilibrium equation in x direction

 xx  yx  zx
   f x  u
x y z
Equilibrium equations in y and z directions
 xy  yy  zy
   f y  v
x y z
 xz  yz  zz
   f z  w 
x y z 20
Dynamic and static equilibrium
equations
 In matrix form  fx 
 
LT   fb   U Note: fb   f y 
f 
or  z
L cLU  fb   U
T

 For static case

L cLU  fb  0
T

21
Boundary Conditions
 Displacement (essential) boundary
condition
u u vv ww
 Force (natural） boundary condition
nσ  t
nx 0 0 0 nz ny 
 
n0 ny 0 nz 0 nx 
0 0 nz ny nx 0 


22
EQUATIONS FOR 2D SOLIDS

 Stress and strain

 Constitutive equations
 Dynamic and static equilibrium equations

23
EQUATIONS FOR 2D SOLIDS
x

z
x

y
y

Plane stress
Plane strain

24
Stress and strain
   xx  yy  zz  yz  xz  xy 
T
(3D)

 xx   xx 
   
   yy     yy 
   
 xy   xy 
u v u v
 xx  ,  yy  ,  xy  
 x  y  y  x
25
Stress and strain
 Strains in matrix form
ε  LU
where
  
 0 
 x 
   u 
L 0  U 
  y , v 
   
 
  y  x 

26
Constitutive equations
=c
1  0 
E  
c 2 
 1 0 
(For plane stress)
1 
 0 0 1   / 2

  
 1 1 
0 
 
E (1  )  
0 
(For plane strain)
c 1
(1   )(1  2 ) 1 
 
 0 1  2 
0
 2(1  ) 
27
Dynamic equilibrium equations
 xx  yx  zx
   f x  u (3D)
x y z

 xx  yx
  f x  u
x y
 xy  yy
  f y  v
x y

28
Dynamic and static equilibrium
equations
 In matrix form
 fx 
L   fb   U
T Note: fb   
or  fy 

L cLU  fb   U
T

 For static case

LT cLU  fb  0

29
 EQUATIONS FOR TRUSS MEMBERS

 Stress and strain

 Constitutive equations
 Dynamic and static equilibrium equations

y
z
x

fx

30
EQUATIONS FOR TRUSS MEMBERS

Stress and strain

 xx 
 
σ   yy     xx
 
 xy  y
z
x

u
x 
 x fx

31
Constitutive equations
 Hooke’s law in 1D
=E
Dynamic and static equilibrium
equations
 x
 f x  u
x
 x
 fx  0 (Static)
x
32
 EQUATIONS FOR BEAMS
 Stress and strain
 Constitutive equations
 Moments and shear forces
 Dynamic and static equilibrium equations
fy2
x
fy1

33
 EQUATIONS FOR BEAMS
 A beam possesses geometrically similar dimensional
characteristics as a truss member. The forces applied on
beams are transversal. Therefore, a beam experiences
bending, which is the deflection in the y direction as a
function of x.
fy2
x
fy1

34
Stress and strain
 The plane cross- sections remain plane after
bending and remain normal to the deformed
axis ——Euler–Bernoulli theory—thin beam
theory y

Centroidal
axis

35
Stress and strain
 xy  0 Assumption of thin beam

u   y Sections remain normal

v
 Slope of the deflection curve
 x
u v2
2
 xx   y   yLv where L
 x  x 2
 x2

xx = E xx   xx   yELv

36
Constitutive equations
xx = Exx
Moments and shear forces
 Consider isolated beam cell of length dx
y
(fy(x)- Av ) dx

Mz + dMz
Mz

Q + dQ
Q
dx
x

37
Moments and shear forces
 The stress and moment

xx

M M
y

dx
x

38
Moments and shear forces xx

 xx   yELv
M M
Since y

Therefore, dx
x

 2
v
M z     xx ydA  E (  y dA) Lv  EI z Lv  EI z 2
2

A A
x
Where

I z   y dA 2 (Second moment of area about z

axis – dependent on shape and
A
dimensions of cross-section)
39
Dynamic and static equilibrium
equations  (fy(x)- Av ) dx
Forces in the y direction
dQ  ( f y x   Av)dx  0 Mz + dMz
Mz

 f y x   Av
dQ A
Q + dQ
Q
dx dx
Moments about point A
1
dM z  Qdx  ( f y - Av)(dx) 2  0
2
dM z  3v
 Q  Q   EI z 3
dx x
40
Dynamic and static equilibrium
equations
Therefore,

 f y x   Av
dQ
dx
 4v
 EI z 4  Av  f y
x

 4v
EI z 4  f y (Static)
x

41
 EQUATIONS FOR PLATES
 Stress and strain
 Constitutive equations
 Moments and shear forces
 Dynamic and static equilibrium
equations
 Reissner-Mindlin plate
y, v fz
z, w

h x, u

42
 Stress and strain
Normals to the middle (neutral) plane of the
undeformed plate remain straight and normal to
the middle plane during deformation or bending
——Thin plate theory or Classical Plate Theory
(CPT)

43
Stress and strain
Assumes that xz = 0, yz = 0

w w
u  z , v  z
 x  y
Therefore,
u 2w v 2w
 xx   z ,  yy   z
 x  x 2
 y  y 2

u v 2w
 xy    2 z
 y  x  x y
44
Stress and strain
 Strains in matrix form

 = z Lw
where  2 
 2 
  x 
 2 
L 2 
  y 
 2 
 
  x y 
45
Constitutive equations

 =c
where c has the same form for the plane
stress case of 2D solids

1  0 
E  
c 2 
 1 0 
1 
 0 0 1   / 2

46
Moments and shear forces
 Stresses on isolated cell of dx x dy from a
plate of thickness h z

y
h O

fz yz

yy

yx

xz xx xy

47
 Moments and shear forces
 Moments and shear forces on a plate cell
dx x dy
z

Qx
Mx
Mxy
Qy
O Qy+dQy y
My Myx

My+dMy
Myx+dMyx

Qx+dQx
dx

Mxy+dMxy
Mx+dMx

x
dy
48
Moments and shear forces
=c   =  c z Lw
Like beams,

 Mx 
  h 3
M p   M y    zdz  c(  z dz )Lw   cLw
2

M  A A
12
 xy 
Note that
Qx Qy
dQx  dx , dQy  dy
x y
49
Moments and shear forces
Therefore, equilibrium of forces in z direction
Qx Qy
( dx)dy  ( dy)dx  ( f z  hw
)dxdy  0
x y
or z

Qx Qy Qx

  f z  hw
 Qy

x y Qy +dQy y
My M yx o

Qx +dQx Myx +dMyx My +dM y

A
Moments about A-A Mxy +dMxy
A
dx
Mx +dMx

M x M xy
x
dy

Qx  
x y
50
Dynamic and static equilibrium
equations
 2 
 2 
Mx    x 
  h3   2 
My    c  2 
w
M  12  y
 xy   
  2

  x y 
M x M xy
Qx  
x y
Qx Qy
  f z  hw

x y

51
Dynamic and static equilibrium
equations
4w 4w 4w
 D( 4  2 2 2  4 )  hw
  f z
x x y y

4w 4w 4w

D( 4  2 2 2  4 )  f z (Static)
x x y y

where Eh3
D
12(1  2 )

52
Reissner-Mindlin plate

53
Reissner-Mindlin plate
u  z y , v   z x
Therefore, in-plane strains  = z L
where   
 0 
  x 
    y 
L 0  ,  
  y   x 
   
 
  x  y 

54
Reissner-Mindlin plate
 w 
 xz    y  x 
Transverse shear strains γ       
 yz    x  
w
 y 

Transverse shear stress

 xz  G 0 
          [Ds ]
 yz   0 G

 = p2/12 or 5/6
55