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Chapter 1
Introduction
1.1 Case Study: Pneumatically Actuated PDMS Fingers
1.2 Structural Mechanics: A Quick Review
1.3 Finite Element Methods: A Conceptual Introduction
1.4 Failure Criteria of Materials
1.5 Review
Chapter 1 Introduction Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers 2
Section 1.1
Case Study: Pneumatically Actuated
PDMS Fingers
Problem Description
Stress (MPa)
3 this case.
0
0 0.2 0.4 0.6 0.8 1.0
Strain (Dimensionless)
[6] Undeformed
shape.
[8] Strains.
[7] Displacements.
Chapter 1 Introduction Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers 6
Stress-stiffening: bending stiffness increases with increasing axial tensile stress, e.g., guitar string.
The opposite also holds: bending stiffness decreases with increasing axial compressive stress.
Buckling: phenomenon when bending stiffness reduces to zero, i.e., the structure is unstable.
Usually occurs in slender columns, thin walls, etc.
Purpose of a buckling analysis is to find buckling loads and buckling modes.
Dynamic Simulations
Modal Analysis
Structural Nonlinearities
Deflection (mm)
When the solution deviates from -10
Section 1.2
Structural Mechanics: A Quick Review
Displacements
Stresses
[3] This face is called
negative X-face.
XY XZ [2] This face is
X Z
{ }
= YX Y YZ called X-face, since the
X-direction is normal Z
ZX ZY Z
to this face.
ZX
ZY
XY = YX , YZ = ZY , XZ = ZX [5] The Y-
component of the
stress on X-face.
YX
{ } = { X
Y Z XY YZ ZX } XY
YZ Y
X XZ
X Y
[4] The X-component
of the stress on X-face.
[6] The Z-component
[1] The reference of the stress on X-face.
frame XYZ.
Chapter 1 Introduction Section 1.2 Structural Mechanics: A Quick Review 13
C B
C
A B
[1] The reference Y
frame. B
A B D
[7] And the vector
X
DB describes the twist
BB of ABC in X-face.
Strain on X-face =
AB
[2] Original
configuration ABC.
BD DB [6] The vector BD
X = , XY =
AB AB describes the stretch of
ABC in X-face.
Chapter 1 Introduction Section 1.2 Structural Mechanics: A Quick Review 14
Governing Equations
{u} = { uX uY uZ }
{ } = { X
Y Z XY YZ ZX }
{ } = { X Y Z XY YZ ZX }
Totally 15 quantities
X
X =
E
Y Z
E E For isotropic, linearly elastic materials,
Y =
Y
Z
X Young's modulus (E) and Poisson's ratio ( )
E E E
Z X Y can be used to fully describe the stress-
Z =
E E E
strain relations.
XY = XY , YZ = YZ , ZX = ZX
G G G The Hooke's law is called a material
model.
The Young's modulus and the Poisson's
ratio are called the material parameters
E of the material model.
G=
2(1+ )
Chapter 1 Introduction Section 1.2 Structural Mechanics: A Quick Review 17
X =
X
Y Z + T
If temperature changes (thermal loads)
E E E
are involved, the coefficient of thermal
Y Z X
Y = + T
E E E expansion, (CTE, ) must be included.
Z = Z X Y + T
E E E If inertia forces (e.g., dynamic
simulations) are involved, the mass
XY = XY , YZ = YZ , ZX = ZX
G G G
density must be included.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 18
Section 1.3
Finite Element Methods: A Conceptual
Introduction
Basic Ideas
A basic idea of finite element methods is to divide the structural body into small and
geometrically simple bodies, called elements, so that equilibrium equations of each
element can be written, and all the equilibrium equations are solved simultaneously
The elements are assumed to be connected by nodes located on the elements' edges
and vertices.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 19
1. Given the bodies' geometries, material properties, support conditions, and loading
conditions.
2. Divide the bodies into elements.
3. Establish the equilibrium equation: [K] {D} = {F}
3.1 Construct the [K] matrix, according to the elements' geometries and the material
properties.
3.2 Most of components in {F} can be calculated, according to the loading conditions.
3.3 Most of components in {D} are unknown. Some component, however, are known,
according to the support conditions.
3.4 The total number of unknowns in {D} and {F} should be equal to the total number
of degrees of freedom of the structure.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 22
4. Solve the equilibrium equation. Now, the nodal displacements {d} of each element are
known.
5. For each element:
5.1 Calculate displacement fields {u}, using an interpolating method, {u} = [N] {d}. The
interpolating functions in [N] are called the shape functions.
5.2 Calculate strain fields according to the strain-displacement relations.
5.3 Calculate stress fields according to the stress-strain relations (Hooke's law).
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 23
Shape Functions
[1] A 2D 4-node
quadrilateral element
Shape functions serve as interpolating d6
values).
Y
d4
{u} = N {d} d2
d3
For elements with nodes at vertices, X d1
the interpolation must be linear and
[2] This element's
thus the shape functions are linear (of nodes locate at
X,Y, Z). vertices.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 24
For elements with nodes at vertices as well as at middles of edges, the interpolation
must be quadratic and thus the shape functions are quadratic (of X,Y, Z).
Elements with linear shape functions are called linear elements, first-order elements, or
lower-order elements.
Elements with quadratic shape functions are called quadratic elements, second-order
elements, or higher-order elements.
ANSYS Workbench supports only first-order and second-order elements.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 25
Workbench Elements
3D Solid Bodies
[4] Tetrahedron.
[2] Triangle-based
prism.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 26
2D Solid Bodies
[5] 2D 8-node
structural solid.
Each node has 2
translational
degrees of [6] Degenerated
freedom: DX and Triangle.
DY.
Chapter 1 Introduction Section 1.3 Finite Element Methods: A Conceptual Introduction 27
3D Surface Bodies
[8] Degenerated
Triangle
[7] 3D 4-node
structural shell.
Each node has 3
translational and 3
rotational degrees
of freedom: DX, DY,
DZ, RX, RY, and RZ.
3D Line Bodies
[9] 3D 2-Node
beam. Each node has
3 translational and 3
rotational degrees of
freedom: DX, DY, DZ,
RX, RY, RZ.
Chapter 1 Introduction Section 1.4 Failure Criteria of Materials 28
Section 1.4
Failure Criteria of Materials
Stress
[1] Stress-strain
deformation. curve for a ductile
Therefore, for these materials, we are most material.
[2] Fracture
point.
Cast iron and ceramics are two examples
of brittle materials. f
Stress
exist obvious yield point, and we are [1] Stress-strain
curve for a
concerned about their fracture point f . brittle material.
Strain
Chapter 1 Introduction Section 1.4 Failure Criteria of Materials 31
Failure Modes
Principal Stresses
[8] Point of [4] Other stress
maximum pairs could be
A direction in which the shear [5]
Mohr's
shear stress. drawn.
In 1913, Richard von Mises proposed a theory for predicting the yielding of ductile
materials. The theory states that the yielding occurs when the deviatoric strain energy
density reaches a critical value, i.e.,
w d w yd
After substitution and simplification, the criterion reduces to that the yielding
occurs when
1
( ) ( ) ( )
1 2 + 2 3 + 3 1 y
2 2 2
2
The quantity on the left-hand-side is termed von Mises stress or effective stress, and
denoted by e ; in ANSYS, it is also referred to as equivalent stress,
1
( ) ( ) (
1 2 + 2 3 + 3 1 )
2 2 2
e =
2
e
e =
E