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Teora de Elasticidad

Fernando Labbe Zepeda


26 de agosto de 2008

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

ELASTICIDAD
Materiales: Elasticos, homogeneos, continuos.

1.

Vector Esfuerzo t
Tipos de fuerzas:
a) Fuerzas de Superficie
b) Fuerzas de Cuerpo b

Donde:
f =elemento de fuerza
S = elemento de area
n = vector unitario a S
Definicion: Vector Esfuerzo t

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
f
t(x1 , x2 , x3 , n)
S0 S

= ~tn = lm

en donde t tiene unidades de [Fuerza/Unidad de Area].

2.

Tensor Esfuerzo T
Sea P un punto interior en V,

consideremos un tetraedro peque


no

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

tn = t1,n e1 + t2,n e2 + t3,n e3


en donde,
h = distancia perpendicular al plano desde P.
Los vectores esfuerzos t1,n , t2,n y t3,n actuando respectivamente en las caras 1, 2 y 3,
pueden escribirse como:

t1,n = 11~e1 + 12~e2 + 13~e3

t2,n = 21~e1 + 22~e2 + 23~e3

t3,n = 31~e1 + 32~e2 + 33~e3


como el tetraedro esta en equilibrio
3
X

(F uerzas)i = 0

i=1

Explcitamente para la direccion 1


4

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

X
(F uerzas)1 = 0
Esto es,

t1,n S 11 S1 21 S2 31 S3
|
{z
}

1
Shb1
3
| {z }

F uerzas de Superf icie

=0

F uerzas de Cuerpo

pero

S1 = Sn1

S2 = Sn2

S3 = Sn3
reemplazando y cancelando el factor S,

t1,n 11 n1 21 n2 31 n3

hb1
=0
3

Se contrae el tetraedro al punto P (h 0) y se obtiene

t1,n = 11 n1 + 21 n2 + 31 n3
similarmente para t2,n y t3,n

t2,n = 12 n1 + 22 n2 + 32 n3

t3,n = 13 n1 + 23 n2 + 33 n3
Escrito en forma matricial,

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

t1,n
11 21 31
n1
t2,n = 12 22 32 n2
t3,n
13 23 33
n3
Escrito en forma compacta

tn = T T n
Donde,

11 12 13
T = 21 22 23 tensor esf uerzo
31 32 33

tn = t1,n e1 + t2,n e2 + t3,n e3


Convencion de Subndices del Tensor Esfuerzo:

a) ij =

act
ua en la cara i
apunta en direcci
on j

b) Las componentes normales ii son:


Positivas (+), si act
uan en traccion.
6

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Negativas (-), si act


uan en compresion.

3.

Ecuaciones de Equilibrio

3.1.

Balance de Momentum Lineal


Z

Z
tdA +

d
bdV =
dt

xdV

como t = T T n
Z

T ndA +

bdV =

xdV
V

en componentes
Z

Z
ji nj dA +

Z
bi dV =

xi dV
V

Usando teorema de divergencia

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
Z
V

ji
dV +
xj

Z 
V

Z
bi dV =

xi dV
V


ji
+ bi
xi dV = 0
xj

Por el teorema de localizacion


ji
+ bi =
xi
xj
ji
+ bi = ai
xj
i = 1, 2, 3

j = 1, 2, 3

Explcitamente,
11
x1

21
x2

31
x3

+ b1

= a1

12
x1

22
x2

32
x3

+ b2

= a2

13
x1

23
x2

33
x3

+ b3

= a3

Si el cuerpo esta en equilibrio estatico


11
x1

21
x2

31
x3

+ b1

12
x1

22
x2

32
x3

+ b2

13
x1

23
x2

33
x3

+ b3

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Por la simetra del tensor esfuerzo la ecuacion anterior se puede escribir tambien como
ij
+ bi = 0
xj

3.2.

11
x1

12
x2

13
x3

+ b1

21
x1

22
x2

23
x3

+ b2

31
x1

32
x2

33
x3

+ b3

Balance de Momentum Angular

Z
x tdA +

d
x bdV =
dt

x xdV

como t = T T n
Z

x T ndA +
S

x bdV =
V

x xdV
V

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

en componentes
Z

ijk xj mk nm dA +
S

ijk xj bk dV =
V

ijk xj xk dV
V

Usando teorema de divergencia


Z
V

(ijk xj mk )dV +
xm

Z
ijk xj bk dV =
V

ijk xj xk dV
V


Z 
Z
Z
xj
mk
ijk
mk + ijk xj
dV +
ijk xj bk dV =
ijk xj xk dV
xm
xm
V
V
V
pero
mk
+ bk =
xk
xm
As,
Z

Z
[imk mk + ijk xj (
xk bk )]dV +

ijk xj
xk dV

ijk xj bk dV =
V

Finalmente,
Z
imk mk dV = 0
V

pero imk ipq = mp kq mq kp


As,
Z
(pq qp )dV = 0
V

por el teorema de localizacion

pq = qp
10

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

El tensor T es simetrico !!!

TT = T

ij
+ bi = 0
xj
11
x1

12
x2

13
x3

+ b1

21
x1

22
x2

23
x3

+ b2

31
x1

32
x2

33
x3

+ b3

Recapitulando:

t = Tn

ti = ij nj

Forma Notacional

11

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

11 12 13
T = 21 22 23
31 32 33
ecuaciones de equilibrio
11
x1

21
x2

31
x3

+ b1

12
x1

22
x2

32
x3

+ b2

13
x1

23
x2

33
x3

+ b3

ij
+ bi = 0
xj
11
x1

12
x2

13
x3

+ b1

21
x1

22
x2

23
x3

+ b2

31
x1

32
x2

33
x3

+ b3

Forma Clasica

12

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

xx xy xz
T = yx yy yz
zx zy zz
ecuaciones de equilibrio
xx
x

yx
y

zx
z

+ F1

xy
x

yy
y

zy
z

+ F2

xz
x

yz
y

zz
z

+ F3

ESFUERZOS PRINCIPALES

13

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Caso General

Caso Particular
14

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Si t es al plano (colineal con n):

t = |t|n
llamando a |t|

t = n
tambien

t = Tn
igualando

Tn = n

[T I]n = 0

0
11
12
13
n1
21
22
23 n2 = 0
0
31
32
33
n3

Solucion Trivial n1 = n2 = n3 = 0
Solucion no Trivial

11
12
13
22
23 = 0
det 21
31
32
33
Expandiendo:

3 - I1 2 - I2 - I3 = 0
Donde I1 , I2 y I3 son los invariantes de T
15

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

I1 =

3
X

ii = 11 + 22 + 33

i=1

I2 = 12 ij ij
I2 = -

1 2
I
2 1

22 23

- 11 13 - 11 12
32 33
31 33
21 22

2
2
2
I2 = 23
+ 13
+ 12
22 33 11 33 11 22

11 12 13
I3 = det 21 22 23
31 32 33

16

U.T.F.S.M.
Departamento de Mecanica

4.

Teora de Elasticidad
Fernando Labbe Zepeda

Ejemplo
Dado el siguiente tensor esfuerzo T :

3 1 1
T = 1 0 2 [kgf /mm2 ]
1 2 0

Determinar

Esfuerzos Principales
Direcciones Principales

Procedimiento:
I1 =Traza(T )=3
I2 = -

0 2
3 1
3 1
=6
2 0
1 0
1 0

3 1 1
I3 = det 1 0 2 = 8
1 2 0

3 1
1
2 = 0
det 1
1
2
Ecuacion Caracterstica

3 I1 2 I2 I3 = 0

3 3 2 6 + 8 = 0
Solucion:
1

-2

[kgf /mm2 ]

[kgf /mm2 ]

[kgf /mm2 ]

17

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
1)

5n1 + n2 + n3 = 0

2) n1 + 2n2 + 2n3 = 0
3) n21 + n22 + n23 = 1

n21 + n22 + n23 = 1 Condicion de Normalidad


1)

5n1 + n2 + n3 = 0 /(-2)

2) n1 + 2n2 + 2n3 = 0

1) 10n1 2n2 2n3 = 0


2) n1 + 2n2 + 2n3 = 0

9n1 = 0 n1 = 0
De 2) n2 = n3
Reemplazando en 3)
n23 + n23 = 1
2n23 = 1
n3 = 12 =

2
2

n2 =

2
2

Solucion para 1 = 2[kgf /mm2 ]


n1 =
2

2
18

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Solucion para 2 = 1[kgf /mm2 ]

n2 =

Solucion para 3 = 4[kgf /mm2 ]

1
n3 =

19

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

11 12 13
T = 21 22 23
31 32 33

n1,1
n1 = n2,1
n3,1

1 0 0
D = 0 2 0
0 0 3

n1,2
n2 = n2,2
n3,2

n1,3
n3 = n2,3
n3,3

En coordenadas esfericas

er = (sin cos )i + (sin sin )j + cos k

n1,1 = eri = sin cos

n2,1 = er j = sin sin

n3,1 = er k = cos

20

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

cos

n3,1

tan

n2,1
n1,1

5.

Esfuerzos Normales M
aximos

n = t n = t1 n1 + t2 n2 + t3 n3
n =

3
X

ti ni

i=1

n = ij nj ni
Maximizar n sujeto a | n | = 1
Tecnica: Multiplicadores de Lagrange
Nueva funcion objetivo H:

21

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

H = n + (n21 + n22 + n23 1)

H
=0
nk

k = 1, 2, 3

[ij nj ni + (nj nj 1)] = 0


nk

ij ni

ni
nj
nj
nj
+ij nj
+
+
=0
nk
nk
nk
nk
|{z}
|{z}
|{z}
|{z}
jk

ik

jk

jk

ik ni + kj nj + 2nk = 0
como

ik = ki

ki ni kj nj

2kj nj + 2nk = 0
En Forma Matricial

Tn + n = 0

[T I]n = 0
Que es identico al problema de determinar esfuerzos principales con = :
en los planos principales aparecen los maximos esfuerzos principales

22

U.T.F.S.M.
Departamento de Mecanica

6.

Teora de Elasticidad
Fernando Labbe Zepeda

Esfuerzo de Corte M
aximo

2
2 =| t |2 n

2
2 = t21 + t22 + t23 n

x1 , x2 , x3 se eligen alineados con las direcciones principales.


As

1 0 0
T = 0 2 0
0 0 3
como

t=Tn
23

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

t1
1 0 0
n1
t1 = 1 n1
t2 = 0 2 0 n2 t2 = 2 n2
t3
0 0 3
n3
t3 = 3 n3
2
As 2 = 12 n21 + 22 n22 + 32 n23 n
2
pero n
= t n = (Tn)T n = nT T T n = nT Tn

n =

t1 t2

0
0
n
t1 = 1 n1
1
1


t3
0 2 0
n2 t2 = 2 n2
n3
t3 = 3 n3
0 0 3

n = 1 n21 + 2 n22 + 3 n23


Finalmente:

2 = 12 n21 + 22 n22 + 32 n23 (1 n21 + 2 n22 + 3 n23 )2


maximizar sujeto a n21 + n22 + n23 = 1
Tecnica: Multiplicadores de Lagarange

H = 2 + (n21 + n22 + n23 1)

H = 12 n21 + 22 n22 + 32 n23 (1 n21 + 2 n22 + 3 n23 )2 + (n21 + n22 + n23 1)

H
= 0 = n1 [12 21 (1 n21 + 2 n22 + 3 n23 ) + ] = 0
n1
H
= 0 = n2 [22 22 (1 n21 + 2 n22 + 3 n23 ) + ] = 0
n2
H
= 0 = n3 [32 23 (1 n21 + 2 n22 + 3 n23 ) + ] = 0
n3
24

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Solucion:
a) n1 = 1, n2 = 0 y n3 = 0
2 = 0 = 0 Mnimo
b) n1 = 0, n2 = 1 y n3 = 0
2 = 0 = 0 Mnimo
c) n1 = 0, n2 = 0 y n3 = 1
2 = 0 = 0 Mnimo
2do conjunto de soluciones
a) n1 = 0, n2 = 12 y n3 = 12
=

2 3
2

3 1
2

1 2
2

b) n1 = 12 , n2 = 0 y n3 = 12

c) n1 = 12 , n2 = 12 y n3 = 0

As,

M AX =

M AX M IN
2

25

U.T.F.S.M.
Departamento de Mecanica

7.

Teora de Elasticidad
Fernando Labbe Zepeda

Rotaci
on del Tensor Esfuerzo

11 12 13
11 12 13
21 22 23 21 22 23
31 32 33
31 32 33
|
{z
}
|
{z
}

Ref erido a x1 x2 x3

Ref erido a x1 x2 x3

Metodo:

26

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

ij = t ej

t1 e1 + t2 e2 + t3 e3

t = tl el

ij = tl

el ej
|{z}

|el ||
ej |cos(
xj ,xl )=aj l

ij = tl ajl
como

t = Tn

tl = kl nk

reemplazando en ij
27

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

ij = kl nk ajl
Pero,

nk = cos(n, xn )
ademas n es colineal con xi
As nk = cos(
xi , xk ) aik
Finalmente
ij

= aik ajl kl

ij

= aik kl aTlj

en forma matricial

= ATAT

Expltamente

11 12 13
a11 a12 a13
11 12 13
a11 a21 a31
21 22 23 = a21 a22 a23 21 22 23 a12 a22 a32
31 32 33
a31 a32 a33
31 32 33
a13 a23 a33

28

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
cos x1
x1 a11
A=
x2 a21
x3 a31

8.

x2
a12
a22
a32

x3
a13
a23
a33

Relaci
on entre T y D

1 0 0
T = D = 0 2 0
0 0 3
= ATAT
T
Donde
A: es una matriz de transformacion ortogonal con componentes aij :

aij = cos(
xi , xj )

29

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

a11 a12 a13


n1,1 n1,2 n1,3
A = a21 a22 a23 = A = n2,1 n2,2 n2,3
a31 a32 a33
n3,1 n3,2 n3,3

n1,1
n1 = n1,2
n1,3

n2,1
n2 = n2,2
n2,3

n3,1
n3 = n3,2
n3,3

Finalmente,

1 0 0
n1,1 n1,2 n1,3
11 12 13
n1,1 n2,1 n3,1
0 2 0 = n2,1 n2,2 n2,3 21 22 23 n1,2 n2,2 n3,2
0 0 3
n3,1 n3,2 n3,3
31 32 33
n1,3 n2,3 n3,3

9.

Deformaci
on

Un cuerpo se dice estar deformado cuando la posicion relativa de puntos en el cuerpo


es alterada.
Notacion:
30

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Deformacion  y
Desplazamiento u = ui + vj + wk
Ejemplo: 2D

PQRS PQRS
Elemento Infinitesimal (E.I.)!!
Hay 2 deformaciones geometricas basicas (en un E.I.)
a) Cambio de longitud de una lnea recta
b) Cambio en el valor de un dado entre dos rectas perpendiculares
As

Deformacion

a) Longitudinal
b) Cortadura

Definicion:
Deformacion longitudinal =

Cambio en la Longitud de Lnea


=
Longitud Original
31

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

As para un segmento L que tiene un cambio de longitud en la direccion del segmento


=

 = lm
L0 L
Deformacion de Cortadura (2 alternativas)
xy = Promedio de variacion del angulo originalmente recto en el estado sin deformacion.
xy = Variacion total del angulo originalmente recto en el estado sin deformacion.

10.

Relaci
on entre Deformaci
on y Desplazamiento

32

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Deformacion Longitudinal:

x =

P 0 Q0 P Q
=
PQ

s
2 
2
u
v
dx +
dx +
dx dx
x
x

s
=

dx

u
dx2 + 2dx2
+
x

u
x

2

dx +

v
x

2

dx2 dx

dx
s
=

u
1+2
+
x

u
x

2


+

v
x

2
1

si a es peque
no (1 + a)m ' 1 + ma
si suponemos que

u
<<< 1
x
x =

Similarmente si

v
<<< 1 tenemos que
y
y =

11.

u
x

v
y

Deformaci
on de Cortadura

Si 1 , 2 son peque
nos
1
1
xy = (1 + 2 ) = (tan 1 + tan 2 )
2
2

u
v
dy
dx
1
y
x

=
+
v
u
2
dy +
dy dx +
dx
y
x

xy

33

U.T.F.S.M.
Departamento de Mecanica
si

Teora de Elasticidad
Fernando Labbe Zepeda

v u
,
son infinitesimales
y x
xy



1 u v
+
=
2 y x

en terminos de angulo total




xy

12.

u v
=
+
y x

Resumen de Relaciones Deformaci


on - Desplazamiento

u, v, w campo de desplazamientos

u = ui + vj + wk

x

u
x

y

v
y

z

w
z
34

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda


u v
+
y x

xy

1
=
2

v w
+
z
y

yz

1
=
2

xz
|


u w
+
z
x
{z
}
promedio

1
=
2

u v
+
y x

v w
+
z
y

xy =

yz =

xz
|

13.


u w
+
=
z
x
{z
}
4+ total

Ecuaciones de Compatibilidad

Problema: Dado el tensor deformaciones, determinar el campo de desplazamientos.




x

xy

x x x
xy xz yz

u v
+
y x

u
x

y

xz

v
y

u w
+
z
x

z

w
z

yz

v w
+
z
y

3 incognitas y 6 ecuaciones.
puede haber incompatibilidad en los desplazamientos obtenidos.
35

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
Ecuaciones de Compatibilidad

2 xy
2 x 2 y
=
+
xy
y 2
x2

(1)

2 y 2 z
2 yz
=
+
yz
z 2
y 2

(2)

2 x 2 z
2 xz
=
+
xz
z 2
x2

(3)

2 x

2
=
yz
x

14.



yz zx xy

+
+
x
y
z

2 y
=
2
zx
y

2 z
=
2
xy
z

yz zx xy

+
x
y
z

yz zx xy
+

x
y
z

(4)

(5)

(6)

Demostraci
on

Sea Po (x01 , x02 , x03 ) un punto el cual los desplazamientos u0i y las componentes de la rotacion
0
wij
son conocidos. Los desplazamientos ui en un punto arbitrario P se obtienen por una
integral de lnea a lo largo de una curva contnua C que une P con P0

ui (x1 , x2 , x3 ) =

u0i

dui =

u0i

P0

P0

ui k
dx
xk

(7)

= eik wik

(8)

Pero,
ui
1
=
xk
2



ui
uk
+
xk
xi


+

ui
uk

xk
xi



Por lo tanto, tenemos que


36

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

ui (x1 , x2 , x3 ) =

u0i

wik dxk

eik dx

+
P0

(9)

P0

Usemos wik en terminos eik . Para hacer esto, la u


ltima integral de la ecuacion anterior se
integra por partes,

P
k

P
k

wik (x)(dx dx ) = (xk

wik dx =
P0

0
x0k )wik

(xk xk )

P0

P0

wik
(x)dxl
xl

(10)

0
donde wik
es el valor de wik en el punto P0 . Ahora

1
wik
=

xl
2
1
=
2

2 uk
2 ui

xl xk xl xi

2 ui
2 ul
+
xk xl xk xi

1
=
xk 2

ui ul
+
xl xi

2 uk
2 ul
+
xi xl xi xk

xi 2

ul
uk
+
xl
xk

eil ekl

xk
xi

(11)

Sustituyendo (10) y (11) en (9) se tiene

ui (x1 , x2 , x3 ) =

u0i

+ (xk

0
x0k )wik

Uil dxl

(12)

P0


Uil = eil + (xk xk )

eil ekl

xk
xi


(13)

Ahora, si ui (x1 , x2 , x3 ) es un valor singular y continuo, la u


ltima integral de (12) debe
depender solo de los puntos lmites de P0 y P u deben no ser dependientes de la integracion
sobre C. Sin embargo, la integral debe ser una diferencial exacta. La condicion necesaria para
que Uil dxi sea una diferencial exacta es

37

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
Uim
Uil

=0
xm
xl

(14)

Ahora, obtenemos de (13) y (14)


eil
km
xm
eim
+ kl

xl

15.

eil ekl

xk
xi

eim ekm

xk
xi

+ (xk xk )
xm

(xk xk )
xl

eil ekl

xk
xi

eim ekm

xk
xi


=0

(15)

Ejemplo de Aplicaci
on

Un solido elastico sometido a una distribucion de temperatura T (x, y, z).


Componentes de deformacion:

x = y = z = T

xy = yz = xz = 0
Donde = cte. es el coeficiente de dilatacion termica
Reemplazando en ecuaciones de compatibilidad
2T 2T
+
=0
y 2
x2
2T 2T
+
=0
z 2
y 2
2T 2T
+ 2 =0
x2
z
2T
=0
yz
38

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda
2T
=0
zx
2T
=0
xy

= T debe ser una funcion lineal de x, y, z para compatibilidad!!

T = ax + by + cz
algunos valores tpicos de
Aluminio: 12,5 106 [1/o F ]
Acero: 6,1 106 [1/o F ]

16.

Ecuaciones Esfuerzo-Deformaci
on

Ecuacion Constitutiva

T = f (E)
material elastico lineal

ij = Cijkl kl
material isotropico

ij =

E
ij +
ij kk
(1 + )
(1 + ) (1 2)

ij =

1+

ij ij kk
E
E

Explcitamente (Ley de Hooke)

39

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

11 =

E
[(1 )11 + (22 + 33 )]
(1 + )(1 2)

22 =

E
[(1 )22 + (11 + 33 )]
(1 + )(1 2)

33 =

E
[(1 )33 + (11 + 22 )]
(1 + )(1 2)

12 = 2G12 = G12

13 = 2G13 = G13

23 = 2G23 = G23
E: modulo de elasticidad
Acero: 21000[kg/mm2 ] 2,1 1011 [P a]
: modulo de Poisson ( 0,3)
G: modulo de cortadura =

E
2(1 + )

El modulo de Young y radio de Poisson son las propiedades usadas mas comunes para
caracterizar un solido elastico, pero no son los u
nicos parametros usados. Por ejemplo, definiremos Modulo de Cizalle (Shear Modulus), Modulo de Incompresibilidad (Bulk Modulus)
y Modulo de Lame (Lame Modulus).

Bulk Modulus K =

E
3(1 2)

Shear Modulus =

E
2(1 + )

Lame Modulus =

E
(1 + )(1 2)

40

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Nos enfocaremos a la utilizacion E y en este curso. Sin embargo, para su conveniencia,


se muestra un cuadro relativo a todas las posibles combinaciones de modulos para todas las
posibles combinaciones se da a continuacion.

La relacion constitutiva entre el tensor esfuerzo y el tensor deformacion esta dado por

ij = Cijkl kl
Para un material isoptropico esta relacion se reduce en terminos de los coeficientes de
Lame a

ij = kk ij + 2ij
41

U.T.F.S.M.
Departamento de Mecanica

17.

Teora de Elasticidad
Fernando Labbe Zepeda

Resumen

Equilibrio:

11
x1

21
x2

31
x3

+ b1

12
x1

22
x2

32
x3

+ b2

13
x1

23
x2

33
x3

+ b3

Que por simetra del tensor esfuerzo, la relacion anterior se puede tambien escribir como
11
x1

12
x2

13
x3

+ b1

21
x1

22
x2

23
x3

+ b2

31
x1

32
x2

33
x3

+ b3

Condiciones de Borde:

t = Tn = t

en St

t1 = 11 n1 + 12 n2 + 13 n3 = t1

t2 = 21 n1 + 22 n2 + 23 n3 = t2

t3 = 31 n1 + 32 n2 + 33 n3 = t3
Relacion Deformacion-Desplazamiento:
42

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

u = u1 e1 + u2 e2 + u3 e3

11

u1
x1

22

u2
x2

33

u1 u2
+
x2 x1

12

1
=
2

u2 u3
+
x3 x2

23

1
=
2

u1 u3
+
x3 x1

13

1
=
2

u3
x3

Ley de Hooke:

11 =

E
[(1 )11 + (22 + 33 )]
(1 + )(1 2)

22 =

E
[(1 )22 + (11 + 33 )]
(1 + )(1 2)

33 =

E
[(1 )33 + (11 + 22 )]
(1 + )(1 2)

12 = 2G12 = G12

13 = 2G13 = G13

23 = 2G23 = G23
Incognitas
ij
: 6
ij
: 6
u
: 3
TOTAL
15
43

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Ecuaciones
Equilibrio
: 3
Relac. Deform.-Desplaz. : 6
Ley de Hooke
: 6
TOTAL
15

S = Su

Su

St

St =

Condiciones de Borde:
Desplazamiento: u = u en Su
Tracciones: t = t en St

Ecuacion de Equilibrio en Terminos de Desplazamientos: Ecuacion de Navier

u1 +
1 2 x1
2

u1 u2 u3
+
+
x1 x2 x3


+

b1
=0
G

44

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

u2 +
1 2 x2

u3 +
1 2 x3

u1 u2 u3
+
+
x1 x2 x3

u1 u2 u3
+
+
x1 x2 x3

b2
=0
G

b3
=0
G

Condiciones de Borde:
Desplazamiento: u = u en Su
Tracciones: t = t en St
t = Tn

t = f (E)

t = (u)





 
u1
u1 u2
u1 u3
t1 = n1 + G 2
n1 +
+
n2 +
+
n3
x1
x2 x1
x3 x1



 

u2 u3
u2 u1
u2
n2 +
+
+
n3 +
n1
t2 = n2 + G 2
x2
x3 x2
x1 x2



 

u3 u1
u3 u2
u3
n3 +
+
n1 +
+
n2
t3 = n3 + G 2
x3
x1 x3
x2 x3
Donde

E
(1 + )(1 2)

u1 u2 u3
+
+
x1 x2 x3

45

U.T.F.S.M.
Departamento de Mecanica

18.

Teora de Elasticidad
Fernando Labbe Zepeda

Estado de Esfuerzos en un Punto (Caso Bidimensional 2-D)

Esfuerzo Normal
P

Fn = 0

n ds x dy sin y dx cos + xy dy cos + xy dx sin = 0/ : ds


Ademas
dy
= sin
ds
dx
= cos
ds
As,

46

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda


n =

x + y
2


+

y x
2


cos 2 xy sin 2

Esfuerzo Normal Maximo


dn
= 2
d

y x
2


sin 2 2xy cos 2 = 0

tan 2 = 

xy

y x
2

reemplazando

x + y

{max , min } = n =
2

19.

s

y x
2

2
2
+ xy

Esfuerzo de Cortadura
nt ds + x cos dy + xy sin dy xy cos dx y dx sin = 0/ : ds

como
dy
ds

sin

dx
ds

cos

nt = (y x ) sin cos + xy (cos2 sin2 )


en terminos del ] doble

nt =

y x
2


sin 2 + xy cos 2

47

U.T.F.S.M.
Departamento de Mecanica

20.

Teora de Elasticidad
Fernando Labbe Zepeda

M
aximo Esfuerzo de Corte
dnt
=2
d

y x
2


cos 2 2xy sin 2 = 0


tan 2 =

y x
2
xy

sustituyendo
s
{max , min } = nt =

21.

y x
2

2
2
+ xy

Problemas Bidimensionales
Deformacion Plana
Esfuerzo Plano

Deformacion Plana:
Cilindro prismatico largo con cargas laterales.

48

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

consideraciones
Fuerza de Cuerpo en z, es 0
Fuerzas de Cuerpo en direccion x e y son funciones solo de (x,y)
Extremos del cilindro fijo, w = 0
Desplazamientos u, v son solo funciones de (x,y)
As,

x =

u
x

y =

v
y

xy =

u v
+
y x

Funciones solo de (x,y)

z =

w
z

xz =

w u
+
x
z

yz =

v w
+
z
y

Son cero
49

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Ley de Hooke

x =

E
[(1 )x + y ]
(1 + )(1 2)

y =

E
[(1 )y + x ]
(1 + )(1 2)

z =

E
[x + y ]
(1 + )(1 2)

x , y y z son funciones solo de (x,y)

Resolviendo para las deformaciones:

x =

1+
[(1 )x y ]
E

y =

1+
[(1 )y x ]
E

xy =

22.

2(1 + )
xy
E

Esfuerzo Plano

Cilindro prismatico delgado

50

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

consideraciones
h peque
no
Fuerzas de cuerpo en z = 0
Fuerzas de cuerpo en direccion x,y son funciones de (x,y)
Superficies de placa z= h2 libres de esfuerzos, o sea, z , xz y yz son cero
Se puede asumir que
z = 0 en el espesor
x , y y xy dependen solo de (x,y)
Ley de Hooke

x =

1
[x y ]
E

y =

1
[y x ]
E
51

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

z =

[x + y ]
E

xy =

2(1 + )
xy
E

Resolviendo los esfuerzos

x =

E
[x + y ]
1 + 2

y =

E
[y + x ]
1 + 2

xy =

23.
23.1.

E
xy
2(1 + )

The Plain Problem


The Associated Plane Strain and Generalizad Stress Solutions

Throughout this section B is homogeneous and isotropic with Lame moduli and .
Let (x1 , x2 , x3 ) be a rectangular coordinate system with origin at 0, and let B be a (not
necessarily circular) cylinder centered ay 0 with generators

52

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Figure 1: Cylinder B

parallel to the x3 axis and with end faces x3 = h (Figura 1). Let 1 and 2 be complementary subsets of the set

{x B : x3 6= h}
We assume that 1 and 2 are independent of x3 in the sense that 1 2 consists at
most of line segments parallel to the x3 axis and of length 2h.
Given elastic constants and , body forces b on B , surface displacements u on 1 , and
surface tractions s on 2 , with b, u and s independent of x3 and parallel to the x1 , x2 plane,
the the plane problem of elastostatics consists in finding an elastic state [u, E, S] on
B that corresponds to the body force field b and satisfies the boundaty conditions:

u = u on 1 , s = s on 2 ,

s = 0 when x3 = h

53

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Since the surface displacements, surface tractions, and body forces are all independent of
x3 and parallel to the x1 , x2 plane, one might expect that the displacement field u will also
have this property. With this in mind, we introduce the following definition.
Let [u, E, S] be an elastic state. Then [u, E, S] is a state of plane strain provided

u = u (x1 , x2 ), u3 = 0
Here and in what follows Greek subscripts range over the integers (1,2). The above restriction, in conjunction with the strain-displacement and stress-strain relations, implies that
E = E(x1 , x2 ) and S = S(x1 , x2 ). Further,
1
E = (u + u )
2

E13 = E23 = E33 = 0

S = 2E + E

S13 = S23 = 0,

S33 = E

and the equation of equilibrium takes the form

S, + b = 0
A simple calculation based on the above relations yields the important relation

S33 = S
where is Poissons Ratio

2( + )

Thus the complete system of field equations consists of

54

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

(a)

S, + b = 0

S = (u, + u, ) + u,
supplemented by

(b)

S13 = S23 = u3 = 0,

S33 = S

while the boundary conditions are

(c)

u = u on 1 , S n = s on 2

(d)

S13 = S23 = S33 = 0 when x3 = h

supplemented by

Here 1 and 2 are the intersections, respectively, of 1 and 2 with the x1 , x2 plane.
The system (a) y (c) constitutes a two-dimensional boundary-value problem. This problem
has a unique solution which w e call the plane strain solution associated with the plane
problem. As is clear from (b) and (c), this solution actually solves the plane problem only
when =0 or S11 + S22 0. However, the plane strain solution is an actual solution of the
modified problem that result if we replace (b) by the mixed-mixed boundary condition

S13 = S23 = u3 = 0 whenx3 = h


For future use, we note here that in terms of and the two-dimensional stress-strain
relation

S = 2E + E
can be inverted to give

2E = S S

55

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

We turn next to the associated generalized plane stress solution, which characterizes the
thickness averages of u, E, and S under the approximative assumption

S33 0

(A)

Thus let [u,E,S] (no longer assumed to be a state of plane strain) be a solution of the
plane problem and assume that (A) holds. It follows from the symmetry inherent in the plane
problem that

u (x1 , x2 , x3 ) = u (x1 , x2 , x3 ),

u3 (x1 , x2 , x3 ) = u3 (x1 , x2 , x3 )

for otherwise the displacement field u defined by


u (x1 , x2 , x3 ) = u (x1 , x2 , x3 ),

u3 (x1 , x2 , x3 ) = u3 (x1 , x2 , x3 )

would generate a second solution of the plane problem, a situation ruled out by the
uniqueness theorem of elastostatics (at least when the elasticity tensor is positive definite).
Given a function f on B, let f denote its thickness average
1
f (x1 , x2 ) =
2h

+h

f (x1 , x2 , x3 )dx3
h

Since the thickness average of an x3 odd, it follows that

u3 = E 13 = E 23 = S 13 = S 23 = 0
Further,
1
E = (u, + u )
2

S = 2E + (E + E 33 )

S 33 = 2E 33 + (E + E 33

56

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

S 33 = 2E 33 + (E + E 33 )
In view of (A), S33 =0, thus the above relations imply that

(1)

S = (u, + u, ) + u

where

2
+ 2

Further, the averaged equation of equilibrium takes the form

S , + b = 0

(2)
while the boundary conditions become

(3)u = u on 1 ,

S n = s on 2

The relations (1), (2) and (c) constitute a two dimensional boundary-value problem. This
problem has a unique solution called the generalized plane stress solution associated with the
plane problem. Note that the relations (1), (2) y (c) which constitute the generalized plane
stress solution, are identical to the relations (a) and (c) of the plane strain solution provided
we replace the Lame modulus by

2
+ 2

It must be emphasized that basic to the derivation of (1) is the approximative assumption
that S33 vanish.
The stress-strain relation for generalized plane stress is easily inverted; indeed,

2E = S S
where

57

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

1+

is the appopiate Poisons Ratio for generalized plane stress. Figure 12 shows the graph of
/ as a function of .

Figure 2: / V/S

Let us agree to call the elastic constants and positive definite if

> 0,

1 < <

1 < <

1
2

1
2

Note that

> 0,

< <

1
3

so that , positive definite does not imply , positive definite. Note, however, that

1
2

0<

1
3

The result will be of importance when we discuss the uniqueness issue appropriate to the
generalized plane stress solution.

58

U.T.F.S.M.
Departamento de Mecanica

23.2.

Teora de Elasticidad
Fernando Labbe Zepeda

Plane Elastic States

In this section we study properties of the plane strain solution associated with the plane
problem under the assumption that B is homogeneous and isotropic with 6= 0, 6= 12 , 1. In
addition, we assume throughout this section and the next that the body forces are zero.
We write R for the intersection of B with the x1 , x2 plane. Further, we let 1 and 2
denote complementary regular subcurves of the boundary curve R and write n for the
components of the outward unit normal to R.
In view of the discussion given in the previous section, to specify a state of plane strain
or generalized plane stress it suffices to specify the plane components u and S of the
displacement and stress fields. This remark should motivate the following definition. We say
that [u , S ] is a plane elastic state corresponding to the elastic constants and if:
(i) u is continuos on R and smooth on R.
(ii) S is continuos on R and smooth on R.
(iii) u and S satisfy the field equations.

S, = 0

(u, + u, ) = S S
Since every plane elastic state generates, with the aid of (a) in the previous section, a
(three-dimensional) state of plane strain, we have the following direct corollary
(1) Let [u , S ] be a plane elastic state corresponding to the elastic constants and .
Then u and S are analytic on R.
Each state of plane strain is an actual solution of the modified plane problem for which
the boundary conditions at x3 = h are replaced by the mixed-mixed conditions

S13 = S23 = u3 = 0

when

x3 = h

(2) Uniqueness theorem for the plane problem. Let [u , S ] and [


u , S ] be plane
elastic states corresponding to the same elastic constants and , with and positive
definite, and let both states correspond to the same boundary data,c

u = u

on

and

S n = S n

on

2
59

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Then
S = S

on

and hence the two states are equal modulo a plane rigid displacement.
The next theorem shows that for plane states the stress equations of compatibility take
a particularly simple form.
(3) Characterization of the Stress Field. Let [u , S ] be a plane elastic state corresponding to the elastic constants and . Then S satisfies the compatibility relation

(e)

S = 0

Conversely, let S (= S ) be of class C 2 on R and smooth on R, and suppose that S


satisfies (1) and the equation of equilibrium

(f )

S, = 0

Assume, in addition, that R is simply-connected. Then there exists a field u such that
[u , S ] is a plane elastic state corresponding to and .
Proof. Let [u , S ] be a plane elastic state. By (1) the strains E corresponding to u
are analytic; thus we conclude that E satisfies the compatibility relation

(g)

2E12,12 = E11,22 + E22,11

The stress-strain relation, in conjunction with (g), yields

2S12,12 = S11,22 + S22,11 S


while the equation of equilibrium implies

S12,12 = S11,11

S12,12 = S22,22
60

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

hence

(h)

2S12,12 = S11,11 S22,22

On the other hand, let S satisfy (e) y (f) and define E through the stress-strain
relation. Then by reversing the above steps, it is a simple matter to verify that (g) holds.
Theorem (3) remains valid in the presence of body forces provided (e) and (f) are replaced
by

S =

1
b, ,
1

S, + b = 0

The next theorem asserts that the stresses corresponding to a solution of the traction
problem are independent of the elastic constants (provided the body is simply-connected).
Much of the experimental work in photoelasticity theory is based on this result.
(4) L
evys Theorem. Assume that R is simply-connected. Let [u , S ] and [
u , S ]
be plane elastic states corresponding to positive definite elastic constants , and , respectively. Suppose, further, that S and S are smooth on R and

S n = S n

on

Then

S = S

23.3.

on

Airys Solution

In this section some of the functions we study will be multi-value. Therefore, for this
section only, if a function is single-value we will say so; if nothing is said the functions
allowed to be multi-valued. Thus the assertion is a function of class C N means that
is a possibly multi-valued function of class C N . However, we will always assume that the
displacement and stress fields corresponding to a plane elastic state are single-valued.
We continue to assume that the body forces vanish. Then, as we saw in the previous
section, a plane stress field is completely characterized by the following pair of field equations:

S, = 0,

S = 0
61

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

(1) Airys Solution. Let be a scalar field of class C 3 on R, and let

(i)

S11 = ,22 ,

S22 = ,11 ,

S12 = ,12

Then,

(j)

S, = 0

(k)

S = 0

Further,

if and only if is biharmonic.


Conversely, let S (= S ) be a single-valued and of class C N (N 1) on R, and suppose
that (j) holds. Then there exists a class C N +2 function on R that satisfies (i). Moreover,
is single-valued if R is simply-connected.
Proof. Clearly, (i) implies (j), while biharmonic is equivalent to (k). To prove the
converse assertion assume that (j) holds. Then,

)S11 ), 1 = (S12 ), 2

(S12 , 1 = (S22 ), 2
and there exists class C N +1 functions g and h on R such that

(l)

S11 = g,2

S12 = g,1

S22 = h,1

S12 = h,2

Hence

g,1 = h,2
and there exists a class C N +1 functions such that

(m)

g = ,2

h = ,1
62

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

Henceforth, by an Airy function we mean a (possibly multi-valued) biharmonic function


on R with the property that the associated stresses

S11 = ,22

S22 = ,11

S12 = ,12

are single-valued. For future use we note that vthese relations can be written in the concise
form

S = ,
where is the two-dimensional alternator.
By (i) de (1), any two Airy functions and generating the same stresses differ by a
linear function of position

(x) (x) = k x + c
where k and c are constants and x = (x1 , x2 ). Conversely, we can always add a linear
function of position to an Airy function without changing the associated stresses. Further,
given a point y = (y1 , y2 ) in R we can always choose the linear function so that the resulting
function satisfies

(y) = , (y) = 0
The (two-dimensional) traction problem for a simply-connected region consists in finding
stresses S that satisfy the field equations

S, = 0,

S = 0

and the boundary condition

S n = s

on

where the s are the prescribed surface tractions. In view of the last theorem, this is
equivalent to finding a scalar field such that

= 0
63

U.T.F.S.M.
Departamento de Mecanica

Teora de Elasticidad
Fernando Labbe Zepeda

, n

on

Thus the traction problem reduces to finding a biharmonic function that satisfies the
above boundary conditions. Our next theorem, which gives a physical interpretation of the
Airy function, allows us to write the boundary condition for in a more familiar form. With
a view toward a concise statement of this theorem, let

= {x() : 0 1 }
be a piecewise smooth curve in R parametrized by its arc length , and let n and t
designate the normal and tangent unit vectors along

n = x ,
where x =

t = x

dx
d

64

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