Chapter 6 Torsion

Will consider torsion of members with circular and noncircular cross sections Use standard strengths of materials approach for circular cross sections Use semi-inverse method of Saint-Venant for noncircular sections in combination with the Prandtl elastic membrane (soap-film) analogy
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6.1 Torsion of a Prismatic Bar of a Circular Cross Section Consider

Solid cylinder Cross section A Length L Torque T Because of radial symmetry and view must be same from either end, plane sections remain plane

The rotation b is a function of the axial distance z where b = q z (6.1), and q is the angle of twist per unit length The displacement components are

(6.2)

(6.3)

To satisfy the BCs, Eqs. 6.7 must yield No forces on the lateral surface of the bar Must yield stresses s.t. the net moment is equal to T Net resultant force vanishes Stresses sPx and sPy are automatically zero

Direction cosines are (l,m,0)

(2.10)

On the ends, the stresses must be distributed s.t. the net moment is T

The stresses szx and szy are independent of z The stress vector t for any point P in a cross section is given by (6.13) The stress vector t lies in the plane of the cross section and is perpendicular to the radius vector r By Eq. 6.13, the magnitude of t is (6.14) Therefore, t is a max at r=b Substitution of Eq. 6.12 into Eq. 6.14 gives

(6.15)

6.1.1

Design of Transmission Shafts

Torsional shafts are used frequently to transmit power. For example, an electric motor to drive a pump

By dynamics, the power P is

P = Tw (a)

Where T is Torque and w is angular velocity

w = 2p f
(b)

Combining (a) and (b)

T = P/2p f

(c)

If P and f are given, then T can be found using Eq. (c)

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6.2

Saint-Venants Semi-inverse Method

The analysis for the torsion of noncircular cross sections proceeds in a manner similar to that for circular cross sections. However, a function w(x,y) is assumed to describe the warping of the noncircular cross section. Consider a torsion member with a uniform cross section of a general shape Any one of a number of potential shear stress distributions on the end sections can produce a net torque T.

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According to Saint-Venants Principle, the stress distribution on the sections sufficiently far removed from the ends depends mainly on the magnitude of T and not on the stress distribution on the ends.

For sufficiently long members, the end load distribution is not

significant. For S-V semi-inverse method, the starting point is to approximate the displacement components resulting from the torque T This approximation is based on the observed geometric changes in the deformed torsion member.

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6.2.1

Geometry of Deformation

S-V assumed that every straight member has an axis of twist about which each cross section rotates as a rigid body Let OA and OB be line segments in the cross section for z=0 and which coincide with the x and y axes, respectively. After deformation,
Translate the new position 0, i.e. 0*, back to coincide with 0 Align the axis of twist along the z axis For small deformations, exy

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The distortion of the cross section is called warping. P P* and motion is described by u, v and w The cross section rotates an angle b This rotation is the principal source of the u, v displacements S-V assumed b = q z (6.16) where y(x,y) is the warping function

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Assuming continuous displacement components u, v and w, the small displacement compatibility equations are automatically satisfied

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The state of strain at a point in the torsion member is given by the substitution of Eqs. 6.16 into Eqs. 2.81 (6.16)

(6.17)

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(6.17)

Differentiate the equation for gzx w.r.t. y

g zx = q y Differentiate the equation for gzy w.r.t. x = q x Subtract the 2nd equation from the 1st equation g zy

(6.18) Eq. 6.18 is a geometrical condition (compatibility) to be satisfied for the torsion problem. 22

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6.2.2

Stresses at a Point and Equations of Equilibrium

For torsion members made of isotropic materials, stress-strain relations for either elastic or inelastic conditions indicate that (6.19)

The stresses szx and szy are nonzero If body forces and acceleration terms are neglected, then upon substitution of these stresses into Eqs. 2.45 (2.45)

(6.20) (6.21) Gives (6.22)

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(6.20) (6.21) (6.22) Eqs. 6.20 and 6.21 indicate that szx and szy are independent of z. The stresses szx and szy must satisfy Eq. 6.22
Which expresses a necessary and sufficient condition for the existence of a stress function f(x,y) (aka the Prandtl stress function) s.t.

(6.23)

Thus, the torsion problem is transformed into the determination of the stress function f(x,y). BCs put restrictions on f(x,y).

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6.2.3

Boundary Conditions

Because the lateral surface of a torsion member is free of applied stress, the resultant shear stress t on the surface S of the cross section must be directed tangent to the surface

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The two shear stress components szx and szy may be written in terms of t (6.24)

According to the figure, (6.25)

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The component of t in the direction of the normal n to the surface S is zero. Projections of szx and szy in the normal direction give

(6.26)

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Upon substituting Eqs. 6.23 into Eq. 6.26 (6.23)

(6.26)

(6.27)

Because the stresses are given by partial derivatives of f, it is permissible to take this constant to be zero (6.28)

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The preceding argument can be used to show that the shear stress (6.29) at any point in the cross section is directed tangent to the contour f = constant the point.

The stress distributions of szx and szy must satisfy

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(6.28)

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6.3

Linear Elastic Solution

The stress-strain relations for linear elastic behavior of an isotropic material are given by Hookes law (Eqs. 3.32)

By Eqs. 3.32 and 6.23

(6.37)
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(6.37)

Substitution of Eqs. 6.37 into Eq. 6.18 (6.18)

Gives (6.38)
(6.28)

If the unit angle of twist q is specified for a given torsion member and f satisfies the BC indicated by Eq. 6.28, then Eq. 6.38 uniquely determines the stress function f(x,y).
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The elasticity solution of the torsion problem for many practical cross sections requires special methods for finding the function f(x,y) and is beyond the scope of the text. An indirect method may be used to obtain solutions for certain types of cross sections, although it is not a general method. Let the boundary of the cross section for a given torsion member be specified by the relation F(x,y) = 0 (6.39) Let the torsion member be subjected to a specified unit angle of twist and define the stress function to be f = B F(x,y) (6.40) where B is a constant. This function is a solution of the torsion problem provided F(x,y)=0 on the lateral surface of the bar and (6.41) B may be found by substituting Eq. 6.40 into Eq. 6.38.
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6.3.1

Elliptical Cross Section

Consider an ellipse The stress function may be written as

(6.41) F(x,y) = x2/h2 + y2/b2 -1 = 0 on the boundary Substituting Eq. 6.41 into Eq. 6.38 gives (6.42) in terms of the geometric parameters h and b, shear modulus G and the unit angle of twist q.
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The function f can be used to find the stresses (6.43)

(6.44) The maximum shear stress tmax occurs at the boundary nearest the centroid of the cross section (6.45) The torque for the cross section can be found by substituting Eq. 6.41 into Eq. 6.36

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6.3.2

Equilateral Triangle Cross Section

Consider an equilateral triangle. The stress function may be written as

(6.48) Proceeding as was done for the elliptical cross section

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6.4

The Prandtl Elastic-Membrane (Soap-Film) Analogy

Proposed by Prandtl (1903) Based on similarity of Membrane subjected to lateral pressure equilibrium equation The torsion (stress function) equation Consider an opening in the x-y plane that has the same shape as the cross section of the torsion bar to be investigated. Cover the opening with a homogeneous membrane. The pressure causes the membrane to bulge out of plane. If the pressure is small, the slope of the membrane will be small. The lateral displacement z(x,y) of the membrane and the Prandtl torsion stress function f(x,y) satisfy the same equation in (x,y) Require the same for both problems
BCs Boundary shapes

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Prandtl Torsion Equation

2f 2f = 2Gq x 2 y 2
Elastic Membrane Equation

(6.50)

where z denotes the lateral displacement due to a pressure p and an initial tension S (force per unit length)

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Consider an element ABCD of dimensions dx and dy of the elastic membrane.

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The net vertical force resulting from the tension S acting along edge AD of the membrane is

Similarly the net vertical force resulting from the tension S acting on the edge is

and likewise for edges AB and DC

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The summation of the force in the vertical direction yields for the equilibrium of the membrane element with area dx dy

(6.51)

(6.50)

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The membrane displacement z is proportional to the Prandtl stress function f. Because the shear stresses szx and szy are equal to the derivatives of f w.r.t. x and y. the stress components are proportional to the derivatives of the membrane displacement z w.r.t. x and y and stresses are proportional to the slope of the membrane The membrane gives a visual image of the stress distribution. Twisting moment T is proportional to the volume enclosed by the membrane and x-y plane Can be used to make valuable deductions
e.g., for cross sections with equal area, one can deduce that a long narrow rectangular cross section has the least stiffness and a circular section has the greatest stiffness

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Important conclusions may also be drawn with regard to the magnitude of the shear stress and hence to the cross section for minimum shear stress. Consider the angle section in Fig. 6.12a
At the external corners A, B, C, E and F, the membrane has zero slope. the shear stress is zero not a design problem However, at the reentrant corner D, the corresponding membrane would have an infinite slope infinite shear stress a problem add a fillet

Fig. 6.12

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6.4.1

Remark on Reentrant Corners

Consider plastic vs. brittle material. For Geometry (a) and for static loads, stress redistributes in corner D for torsion load in a ductile material. However, if the material is brittle and/or load is cyclic (fatigue), then the load carrying capability of the section is compromised. Stress may be reduced by adding by drilling a hole as shown in Geometry (b). Preferably redesign section as shown in Geometry (c).

Fig. 6.12

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6.5

Narrow Rectangular Cross Section

The cross sections of many members of structures are made of narrow rectangular parts. Typically for primary loading of
Tension Compression Bending

Secondary for torsion For simplicity, may use membrane analogy for such sections.

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Consider a bar subject to torsion Assume b >> h Except for the region near x = b, the membrane deflection is independent of x. Assuming the membrane deflection is independent of x and parabolic w.r.t. y, then the displacement of the membrane is: (6.54) where z0 is the max deflection. Eq. 6.54 satisfies z=0 on the boundary If p/S is constant in Eq. 6.61, then z0 may be selected so that Eq. 6.54 is an approximate solution of the membrane displacement

(6.55)
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6.5.1

Cross Sections Made Up of Long Narrow Rectangles

Consider a composite section made up of joined long narrow rectangles The torsional constant J can be defined (6.62) where C is a correction coefficient. If bi > 10hi , then C =1. If bi < 10hi for any one or more sections, then C =0.91. When n=1 and b > 10h then C =1 and Eq. 6.62 is identical to Eq. 6.60 For n>1, Eqs. 6.61 take the form (6.63) where hmax is the maximum value of hi
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Took effective length at centerline of section

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6.6

Torsion of Rectangular Cross Section Members

Consider the rectangular cross section 2b x 2h, but discard the restriction that h << b. The associated membrane requires the torsion stress function f to be even in x and y. (a) where
2f 2f = 2Gq x 2 y 2

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6.7

Hollow Thin-Wall Torsion Members and Multiply Connected Cross Sections

Slightly more complicated to analyze than simply-connected cross section.

Complexity of solution is shown graphically in Fig. 6.16.

No shear stresses act on the lateral surfaces of the hollow region of the torsion member implies zero slope over the hole

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Solution of thin-wall torsion members is based on the assumptions: If the wall thickness is small compared to the other dimensions of the cross section, then sections through the membrane made by planes parallel to the z axis and perpendicular to the outer boundary of the cross section are approximately straight lines. Because the shear stress is given by the slope of the membrane, this simplifying assumption requires the shear stress is constant through the thickness.
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Note: The shear stress around the boundary is not constant, unless the thickness t is constant. The shear stress t=df/dn where n is normal to a membrane contour curve z=constant. Hence, by Eqs. 6.53 (6.53)

and Fig. 6.17b, By Eq. 6.52 (6.52) (6.65)

The quantity q=t t with dimensions [F/L] is referred to as the shear flow. The shear flow is constant around the cross section of a thin wall hollow torsion member and is equal to f .
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Because f is proportional to z (Eq. 6.52), by Eq. 6.36, the torque is proportional to the volume under the membrane. (6.66) with z1 = cf1 and A is the area enclosed by the mean perimeter of the cross section A relation among t, G, q, and the dimensions of the cross section may derived using equilibrium

and by Eqs. 6.65 and 6.52 (see previous slide) (6.67) where l is the length of the mean perimeter of the cross section and S is the tensile force per unit length of the membrane.
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Eqs. 6.66 and 6.67 are based on the simplifying assumption that the wall thickness is sufficiently small so that the shear stress may be assumed to be constant through the wall thickness. The resulting error is negligible when the wall thickness is less than 1/10 of the minimum cross section dimension. With q=t t constant, Eq. 6.67 can be written (a) where t is a point-wise function of l. For a constant thickness cross section where l is the circumferential length

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For multiple constant thickness segments

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6.7.1

Hollow Thin-Wall Torsion Member having Several Components

Thin-wall hollow torsion members may have two or more compartments. The plateau over each compartment is assumed to have a different elevation zi. If N compartments, there are N+1 unknowns TBD. For T specified, the unknowns are the N values for the shear flow qi and the unit angle of twist qi which is assumed to be the same for each compartment.

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By Eq. 6.66 the N+1 unknowns are given by

(6.68) and the N additional equations similar to Eq. 6.67 (6.69) where Ai is the area bounded by the mean perimeter for the ith compartment q is the shear flow for the compartment adjacent to the ith compartment t is the thickness along dl li is the length of the mean perimeter for the ith compartment Note: q is zero at the outer boundary (no adjacent compartment). Then, the max shear stress occurs where the membrane has the greatest slope, i.e. where (qi-q)/t is the max.

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