Classical mechanics: Difference between revisions

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The most commonly used measure of stress is the [[Cauchy stress tensor]], often called simply ''the'' stress tensor or "true stress".  However, several other measures of stress can be defined.<ref>J. Bonet and R. W. Wood, ''Nonlinear Continuum Mechanics for Finite Element Analysis'', Cambridge University Press.</ref><ref> R. W. Ogden, 1984, ''Non-linear Elastic Deformations'', Dover.</ref><ref> L. D. Landau, E. M. Lifshitz, ''Theory of Elasticity'', third edition</ref>  Some such stress measures that are widely used in continuum mechanics, particularly in the computational context, are:


#The Kirchhoff stress (<math>\boldsymbol{\tau}</math>).
#The Nominal stress (<math>\boldsymbol{N}</math>).
#The first Piola-Kirchhoff stress (<math>\boldsymbol{P}</math>).  This stress tensor is the transpose of the nominal stress (<math>\boldsymbol{P} = \boldsymbol{N}^T</math>).
#The second Piola-Kirchhoff stress or PK2 stress (<math>\boldsymbol{S}</math>).
#The Biot stress (<math>\boldsymbol{T}</math>)


== Definitions of stress measures ==
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Consider the situation shown the following figure. The following definitions use the notations shown in the figure. 
{|align="center"
|[[Image:StressMeasures.png|thumb|400px|Quantities used in the definition of stress measures]]
|}
In the reference configuration <math>\Omega_0</math>, the outward normal to a surface element <math>d\Gamma_0</math> is <math>\mathbf{N} \equiv \mathbf{n}_0</math> and the traction acting on that surface is <math>\mathbf{t}_0</math> leading to a force vector <math>d\mathbf{f}_0</math>. In the deformed configuration <math>\Omega</math>, the surface element changes to <math>d\Gamma</math> with outward normal <math>\mathbf{n}</math> and traction vector <math>\mathbf{t}</math> leading to a force <math>d\mathbf{f}</math>. Note that this surface can either be a hypothetical cut inside the body or an actual surface.
=== Cauchy stress ===
The Cauchy stress (or true stress) is a measure of the force acting on an element of area in the deformed configuration. This tensor is symmetric and is defined via
:<math>
  d\mathbf{f} = \mathbf{t}~d\Gamma = \boldsymbol{\sigma}^T\cdot\mathbf{n}~d\Gamma
</math>
or
:<math>
  \mathbf{t} = \boldsymbol{\sigma}^T\cdot\mathbf{n}
</math>
where <math>\mathbf{t}</math> is the traction and <math>\mathbf{n}</math> is the normal to the surface on which the traction acts.
 
=== Kirchhoff stress ===
The quantity <math>\boldsymbol{\tau} = J~\boldsymbol{\sigma}</math> is called the '''Kirchhoff stress tensor''' and is used widely in numerical algorithms in metal plasticity (where there
is no change in volume during plastic deformation).
 
=== Nominal stress/First Piola-Kirchhoff stress ===
The nominal stress <math>\boldsymbol{N}=\boldsymbol{P}^T</math> is the transpose of the first Piola-Kirchhoff stress (PK1 stress) <math>\boldsymbol{P}</math> and is defined via
:<math>
  d\mathbf{f} = \mathbf{t}_0~d\Gamma_0 = \boldsymbol{N}^T\cdot\mathbf{n}_0~d\Gamma_0 = \boldsymbol{P}\cdot\mathbf{n}_0~d\Gamma_0
</math>
or
:<math>
  \mathbf{t}_0 = \boldsymbol{N}^T\cdot\mathbf{n}_0 = \boldsymbol{P}\cdot\mathbf{n}_0
</math>
This stress is unsymmetric and is a two point tensor like the deformation gradient. This is because it ''relates the force in the deformed configuration to an oriented area vector in the reference configuration.''
 
=== Second Piola-Kirchhoff stress ===
If we pull back <math>d\mathbf{f}</math> to the reference configuration, we have
:<math>
  d\mathbf{f}_0 = \boldsymbol{F}^{-1}\cdot d\mathbf{f}
</math>
or,
:<math>
  d\mathbf{f}_0 = \boldsymbol{F}^{-1}\cdot \boldsymbol{N}^T\cdot\mathbf{n}_0~d\Gamma_0
        = \boldsymbol{F}^{-1}\cdot \mathbf{t}_0~d\Gamma_0
</math>
 
The PK2 stress (<math>\boldsymbol{S}</math>) is symmetric and is defined via the relation
:<math>
  d\mathbf{f}_0 = \boldsymbol{S}^T\cdot\mathbf{n}_0~d\Gamma_0 = \boldsymbol{F}^{-1}\cdot \mathbf{t}_0~d\Gamma_0
</math>
Therefore,
:<math>
  \boldsymbol{S}^T\cdot\mathbf{n}_0 = \boldsymbol{F}^{-1}\cdot\mathbf{t}_0
</math>
 
=== Biot stress ===
The Biot stress is useful because it is [[energy conjugacy|energy conjugate]] to the [[Finite strain theory|right stretch tensor]] <math>\boldsymbol{U}</math>. The Biot stress is defined as the symmetric part of the tensor <math>\boldsymbol{P}^T\cdot\boldsymbol{R}</math> where <math>\boldsymbol{R}</math> is the rotation tensor obtained from a [[polar decomposition]] of the deformation gradient. Therefore the Biot stress tensor is defined as
:<math>
  \boldsymbol{T} = \tfrac{1}{2}(\boldsymbol{R}^T\cdot\boldsymbol{P} + \boldsymbol{P}^T\cdot\boldsymbol{R}) ~.
  </math>
The Biot stress is also called the Jaumann stress. 
 
The quantity <math>\boldsymbol{T}</math> does not have any physical interpretation.  However, the unsymmetrized Biot stress has the interpretation
:<math>
  \boldsymbol{R}^T~d\mathbf{f} = (\boldsymbol{P}^T\cdot\boldsymbol{R})^T\cdot\mathbf{n}_0~d\Gamma_0
</math>
 
== Relations between stress measures ==
===Relations between Cauchy stress and nominal stress===
From [[Nanson formula|Nanson's formula]] relating areas in the reference and deformed configurations:
:<math>
  \mathbf{n}~d\Gamma = J~\boldsymbol{F}^{-T}\cdot\mathbf{n}_0~d\Gamma_0
</math>
Now,
:<math>
  \boldsymbol{\sigma}^T\cdot\mathbf{n}~d\Gamma = d\mathbf{f} = \boldsymbol{N}^T\cdot\mathbf{n}_0~d\Gamma_0
</math>
Hence,
:<math>
  \boldsymbol{\sigma}^T\cdot (J~\boldsymbol{F}^{-T}\cdot\mathbf{n}_0~d\Gamma_0) =  \boldsymbol{N}^T\cdot\mathbf{n}_0~d\Gamma_0
</math>
or,
:<math>
  \boldsymbol{N}^T = J~(\boldsymbol{F}^{-1}\cdot\boldsymbol{\sigma})^T = J~\boldsymbol{\sigma}^T\cdot\boldsymbol{F}^{-T}
</math>
or,
:<math>
  \boldsymbol{N} = J~\boldsymbol{F}^{-1}\cdot\boldsymbol{\sigma} \qquad \text{and} \qquad
  \boldsymbol{N}^T = \boldsymbol{P} = J~\boldsymbol{\sigma}^T\cdot\boldsymbol{F}^{-T}
</math>
In index notation,
:<math>
  N_{Ij} = J~F_{Ik}^{-1}~\sigma_{kj} \qquad \text{and} \qquad
  P_{iJ} = J~\sigma_{ki}~F^{-1}_{Jk}
</math>
Therefore,
:<math>
  J~\boldsymbol{\sigma} = \boldsymbol{F}\cdot\boldsymbol{N} = \boldsymbol{P}\cdot\boldsymbol{F}^T~.
</math>
 
Note that <math>\boldsymbol{N}</math>  and <math>\boldsymbol{P}</math> are not symmetric because <math>\boldsymbol{F}</math> is not symmetric.
 
===Relations between nominal stress and second P-K stress===
Recall that
:<math>
  \boldsymbol{N}^T\cdot\mathbf{n}_0~d\Gamma_0 = d\mathbf{f}
</math>
and
:<math>
  d\mathbf{f} = \boldsymbol{F}\cdot d\mathbf{f}_0 = \boldsymbol{F} \cdot (\boldsymbol{S}^T \cdot \mathbf{n}_0~d\Gamma_0)
</math>
Therefore,
:<math>
  \boldsymbol{N}^T\cdot\mathbf{n}_0 = \boldsymbol{F}\cdot\boldsymbol{S}^T\cdot\mathbf{n}_0
</math>
or (using the symmetry of <math>\boldsymbol{S}</math>),
:<math>
  \boldsymbol{N} = \boldsymbol{S}\cdot\boldsymbol{F}^T  \qquad \text{and} \qquad
  \boldsymbol{P} = \boldsymbol{F}\cdot\boldsymbol{S}
</math>
In index notation,
:<math>
  N_{Ij} = S_{IK}~F_{jK} \qquad \text{and} \qquad P_{iJ} = F_{iK}~S_{KJ}
</math>
Alternatively, we can write
:<math>
  \boldsymbol{S} = \boldsymbol{N}\cdot\boldsymbol{F}^{-T} \qquad \text{and} \qquad
  \boldsymbol{S} = \boldsymbol{F}^{-1}\cdot\boldsymbol{P}
</math>
 
===Relations between Cauchy stress and second P-K stress===
Recall that
:<math>
  \boldsymbol{N} = J~\boldsymbol{F}^{-1}\cdot\boldsymbol{\sigma}
</math>
In terms of the 2nd PK stress, we have
:<math>
  \boldsymbol{S}\cdot\boldsymbol{F}^T = J~\boldsymbol{F}^{-1}\cdot\boldsymbol{\sigma}
</math>
Therefore,
:<math>
  \boldsymbol{S} = J~\boldsymbol{F}^{-1}\cdot\boldsymbol{\sigma}\cdot\boldsymbol{F}^{-T} = \boldsymbol{F}^{-1}\cdot\boldsymbol{\tau}\cdot\boldsymbol{F}^{-T}
</math>
In index notation,
:<math>
  S_{IJ} = F_{Ik}^{-1}~\tau_{kl}~F_{Jl}^{-1}
</math>
Since the Cauchy stress (and hence the Kirchhoff stress) is symmetric, the 2n PK stress is also symmetric.
 
Alternatively, we can write
:<math>
  \boldsymbol{\sigma} = J^{-1}~\boldsymbol{F}\cdot\boldsymbol{S}\cdot\boldsymbol{F}^T
</math>
or,
:<math>
  \boldsymbol{\tau} = \boldsymbol{F}\cdot\boldsymbol{S}\cdot\boldsymbol{F}^T ~.
</math>
 
Clearly, from definition of the [[push-forward]] and [[pull-back]] operations, we have
:<math>
  \boldsymbol{S} = \varphi^{*}[\boldsymbol{\tau}] = \boldsymbol{F}^{-1}\cdot\boldsymbol{\tau}\cdot\boldsymbol{F}^{-T}
</math>
and  
:<math>
  \boldsymbol{\tau} = \varphi_{*}[\boldsymbol{S}] = \boldsymbol{F}\cdot\boldsymbol{S}\cdot\boldsymbol{F}^T~.
</math>
Therefore, <math>\boldsymbol{S}</math> is the pull back of <math>\boldsymbol{\tau}</math> by <math>\boldsymbol{F}</math> and <math>\boldsymbol{\tau}</math> is the push forward of <math>\boldsymbol{S}</math>.
 
== See also ==
* [[Stress (physics)]]
* [[Finite strain theory]]
* [[Continuum mechanics]]
* [[Hyperelastic material]]
* [[Cauchy elastic material]]
 
== References ==
<references />
 
[[Category:Solid mechanics]]
[[Category:Continuum mechanics]]

Latest revision as of 22:27, 11 January 2015


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