Linear Theory of Elasticity As Basis for Soft Robotics
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Arxiv:1910.01953V1 [Cond-Mat.Soft] 4 Oct 2019 Tion of the Load
Geometric charges and nonlinear elasticity of soft metamaterials Yohai Bar-Sinai,1 Gabriele Librandi,1 Katia Bertoldi,1 and Michael Moshe2, ∗ 1School of Engineering and Applied Sciences, Harvard University, Cambridge MA 02138 2Racah Institute of Physics, The Hebrew University of Jerusalem, Jerusalem, Israel 91904 Problems of flexible mechanical metamaterials, and highly deformable porous solids in general, are rich and complex due to nonlinear mechanics and nontrivial geometrical effects. While numeric approaches are successful, analytic tools and conceptual frameworks are largely lacking. Using an analogy with electrostatics, and building on recent developments in a nonlinear geometric formu- lation of elasticity, we develop a formalism that maps the elastic problem into that of nonlinear interaction of elastic charges. This approach offers an intuitive conceptual framework, qualitatively explaining the linear response, the onset of mechanical instability and aspects of the post-instability state. Apart from intuition, the formalism also quantitatively reproduces full numeric simulations of several prototypical structures. Possible applications of the tools developed in this work for the study of ordered and disordered porous mechanical metamaterials are discussed. I. INTRODUCTION tic metamaterials out of an underlying nonlinear theory of elasticity. The hallmark of condensed matter physics, as de- A theoretical analysis of the elastic problem requires scribed by P.W. Anderson in his paper \More is Dif- solving the nonlinear equations of elasticity while satis- ferent" [1], is the emergence of collective phenomena out fying the multiple free boundary conditions on the holes of well understood simple interactions between material edges - a seemingly hopeless task from an analytic per- elements. Within the ever increasing list of such systems, spective. -
Analysis of Deformation
Chapter 7: Constitutive Equations Definition: In the previous chapters we’ve learned about the definition and meaning of the concepts of stress and strain. One is an objective measure of load and the other is an objective measure of deformation. In fluids, one talks about the rate-of-deformation as opposed to simply strain (i.e. deformation alone or by itself). We all know though that deformation is caused by loads (i.e. there must be a relationship between stress and strain). A relationship between stress and strain (or rate-of-deformation tensor) is simply called a “constitutive equation”. Below we will describe how such equations are formulated. Constitutive equations between stress and strain are normally written based on phenomenological (i.e. experimental) observations and some assumption(s) on the physical behavior or response of a material to loading. Such equations can and should always be tested against experimental observations. Although there is almost an infinite amount of different materials, leading one to conclude that there is an equivalently infinite amount of constitutive equations or relations that describe such materials behavior, it turns out that there are really three major equations that cover the behavior of a wide range of materials of applied interest. One equation describes stress and small strain in solids and called “Hooke’s law”. The other two equations describe the behavior of fluidic materials. Hookean Elastic Solid: We will start explaining these equations by considering Hooke’s law first. Hooke’s law simply states that the stress tensor is assumed to be linearly related to the strain tensor. -
Crack Tip Elements and the J Integral
EN234: Computational methods in Structural and Solid Mechanics Homework 3: Crack tip elements and the J-integral Due Wed Oct 7, 2015 School of Engineering Brown University The purpose of this homework is to help understand how to handle element interpolation functions and integration schemes in more detail, as well as to explore some applications of FEA to fracture mechanics. In this homework you will solve a simple linear elastic fracture mechanics problem. You might find it helpful to review some of the basic ideas and terminology associated with linear elastic fracture mechanics here (in particular, recall the definitions of stress intensity factor and the nature of crack-tip fields in elastic solids). Also check the relations between energy release rate and stress intensities, and the background on the J integral here. 1. One of the challenges in using finite elements to solve a problem with cracks is that the stress field at a crack tip is singular. Standard finite element interpolation functions are designed so that stresses remain finite a everywhere in the element. Various types of special b c ‘crack tip’ elements have been designed that 3L/4 incorporate the singularity. One way to produce a L/4 singularity (the method used in ABAQUS) is to mesh L the region just near the crack tip with 8 noded elements, with a special arrangement of nodal points: (i) Three of the nodes (nodes 1,4 and 8 in the figure) are connected together, and (ii) the mid-side nodes 2 and 7 are moved to the quarter-point location on the element side. -
Linear Elasticity
10 Linear elasticity When you bend a stick the reaction grows noticeably stronger the further you go — until it perhaps breaks with a snap. If you release the bending force before it breaks, the stick straightens out again and you can bend it again and again without it changing its reaction or its shape. That is elasticity. Robert Hooke (1635–1703). In elementary mechanics the elasticity of a spring is expressed by Hooke’s law English physicist. Worked on elasticity, built tele- which says that the force necessary to stretch or compress a spring is propor- scopes, and the discovered tional to how much it is stretched or compressed. In continuous elastic materials diffraction of light. The Hooke’s law implies that stress is proportional to strain. Some materials that we famous law which bears his name is from 1660. usually think of as highly elastic, for example rubber, do not obey Hooke’s law He stated already in 1678 except under very small deformation. When stresses grow large, most materials the inverse square law for gravity, over which he deform more than predicted by Hooke’s law. The proper treatment of non-linear got involved in a bitter elasticity goes far beyond the simple linear elasticity which we shall discuss in controversy with Newton. this book. The elastic properties of continuous materials are determined by the under- lying molecular structure, but the relation between material properties and the molecular structure and arrangement in solids is complicated, to say the least. Luckily, there are broad classes of materials that may be described by a few Thomas Young (1773–1829). -
Linear Elastostatics
6.161.8 LINEAR ELASTOSTATICS J.R.Barber Department of Mechanical Engineering, University of Michigan, USA Keywords Linear elasticity, Hooke’s law, stress functions, uniqueness, existence, variational methods, boundary- value problems, singularities, dislocations, asymptotic fields, anisotropic materials. Contents 1. Introduction 1.1. Notation for position, displacement and strain 1.2. Rigid-body displacement 1.3. Strain, rotation and dilatation 1.4. Compatibility of strain 2. Traction and stress 2.1. Equilibrium of stresses 3. Transformation of coordinates 4. Hooke’s law 4.1. Equilibrium equations in terms of displacements 5. Loading and boundary conditions 5.1. Saint-Venant’s principle 5.1.1. Weak boundary conditions 5.2. Body force 5.3. Thermal expansion, transformation strains and initial stress 6. Strain energy and variational methods 6.1. Potential energy of the external forces 6.2. Theorem of minimum total potential energy 6.2.1. Rayleigh-Ritz approximations and the finite element method 6.3. Castigliano’s second theorem 6.4. Betti’s reciprocal theorem 6.4.1. Applications of Betti’s theorem 6.5. Uniqueness and existence of solution 6.5.1. Singularities 7. Two-dimensional problems 7.1. Plane stress 7.2. Airy stress function 7.2.1. Airy function in polar coordinates 7.3. Complex variable formulation 7.3.1. Boundary tractions 7.3.2. Laurant series and conformal mapping 7.4. Antiplane problems 8. Solution of boundary-value problems 1 8.1. The corrective problem 8.2. The Saint-Venant problem 9. The prismatic bar under shear and torsion 9.1. Torsion 9.1.1. Multiply-connected bodies 9.2. -
20. Rheology & Linear Elasticity
20. Rheology & Linear Elasticity I Main Topics A Rheology: Macroscopic deformation behavior B Linear elasticity for homogeneous isotropic materials 10/29/18 GG303 1 20. Rheology & Linear Elasticity Viscous (fluid) Behavior http://manoa.hawaii.edu/graduate/content/slide-lava 10/29/18 GG303 2 20. Rheology & Linear Elasticity Ductile (plastic) Behavior http://www.hilo.hawaii.edu/~csav/gallery/scientists/LavaHammerL.jpg http://hvo.wr.usgs.gov/kilauea/update/images.html 10/29/18 GG303 3 http://upload.wikimedia.org/wikipedia/commons/8/89/Ropy_pahoehoe.jpg 20. Rheology & Linear Elasticity Elastic Behavior https://thegeosphere.pbworks.com/w/page/24663884/Sumatra http://www.earth.ox.ac.uk/__Data/assets/image/0006/3021/seismic_hammer.jpg 10/29/18 GG303 4 20. Rheology & Linear Elasticity Brittle Behavior (fracture) 10/29/18 GG303 5 http://upload.wikimedia.org/wikipedia/commons/8/89/Ropy_pahoehoe.jpg 20. Rheology & Linear Elasticity II Rheology: Macroscopic deformation behavior A Elasticity 1 Deformation is reversible when load is removed 2 Stress (σ) is related to strain (ε) 3 Deformation is not time dependent if load is constant 4 Examples: Seismic (acoustic) waves, http://www.fordogtrainers.com rubber ball 10/29/18 GG303 6 20. Rheology & Linear Elasticity II Rheology: Macroscopic deformation behavior A Elasticity 1 Deformation is reversible when load is removed 2 Stress (σ) is related to strain (ε) 3 Deformation is not time dependent if load is constant 4 Examples: Seismic (acoustic) waves, rubber ball 10/29/18 GG303 7 20. Rheology & Linear Elasticity II Rheology: Macroscopic deformation behavior B Viscosity 1 Deformation is irreversible when load is removed 2 Stress (σ) is related to strain rate (ε ! ) 3 Deformation is time dependent if load is constant 4 Examples: Lava flows, corn syrup http://wholefoodrecipes.net 10/29/18 GG303 8 20. -
Circular Birefringence in Crystal Optics
Circular birefringence in crystal optics a) R J Potton Joule Physics Laboratory, School of Computing, Science and Engineering, Materials and Physics Research Centre, University of Salford, Greater Manchester M5 4WT, UK. Abstract In crystal optics the special status of the rest frame of the crystal means that space- time symmetry is less restrictive of electrodynamic phenomena than it is of static electromagnetic effects. A relativistic justification for this claim is provided and its consequences for the analysis of optical activity are explored. The discrete space-time symmetries P and T that lead to classification of static property tensors of crystals as polar or axial, time-invariant (-i) or time-change (-c) are shown to be connected by orientation considerations. The connection finds expression in the dynamic phenomenon of gyrotropy in certain, symmetry determined, crystal classes. In particular, the degeneracies of forward and backward waves in optically active crystals arise from the covariance of the wave equation under space-time reversal. a) Electronic mail: [email protected] 1 1. Introduction To account for optical activity in terms of the dielectric response in crystal optics is more difficult than might reasonably be expected [1]. Consequently, recourse is typically had to a phenomenological account. In the simplest cases the normal modes are assumed to be circularly polarized so that forward and backward waves of the same handedness are degenerate. If this is so, then the circular birefringence can be expanded in even powers of the direction cosines of the wave normal [2]. The leading terms in the expansion suggest that optical activity is an allowed effect in the crystal classes having second rank property tensors with non-vanishing symmetrical, axial parts. -
Design of a Meta-Material with Targeted Nonlinear Deformation Response Zachary Satterfield Clemson University, [email protected]
Clemson University TigerPrints All Theses Theses 12-2015 Design of a Meta-Material with Targeted Nonlinear Deformation Response Zachary Satterfield Clemson University, [email protected] Follow this and additional works at: https://tigerprints.clemson.edu/all_theses Part of the Mechanical Engineering Commons Recommended Citation Satterfield, Zachary, "Design of a Meta-Material with Targeted Nonlinear Deformation Response" (2015). All Theses. 2245. https://tigerprints.clemson.edu/all_theses/2245 This Thesis is brought to you for free and open access by the Theses at TigerPrints. It has been accepted for inclusion in All Theses by an authorized administrator of TigerPrints. For more information, please contact [email protected]. DESIGN OF A META-MATERIAL WITH TARGETED NONLINEAR DEFORMATION RESPONSE A Thesis Presented to the Graduate School of Clemson University In Partial Fulfillment of the Requirements for the Degree Master of Science Mechanical Engineering by Zachary Tyler Satterfield December 2015 Accepted by: Dr. Georges Fadel, Committee Chair Dr. Nicole Coutris, Committee Member Dr. Gang Li, Committee Member ABSTRACT The M1 Abrams tank contains track pads consist of a high density rubber. This rubber fails prematurely due to heat buildup caused by the hysteretic nature of elastomers. It is therefore desired to replace this elastomer by a meta-material that has equivalent nonlinear deformation characteristics without this primary failure mode. A meta-material is an artificial material in the form of a periodic structure that exhibits behavior that differs from its constitutive material. After a thorough literature review, topology optimization was found as the only method used to design meta-materials. Further investigation determined topology optimization as an infeasible method to design meta-materials with the targeted nonlinear deformation characteristics. -
Soft Matter Theory
Soft Matter Theory K. Kroy Leipzig, 2016∗ Contents I Interacting Many-Body Systems 3 1 Pair interactions and pair correlations 4 2 Packing structure and material behavior 9 3 Ornstein{Zernike integral equation 14 4 Density functional theory 17 5 Applications: mesophase transitions, freezing, screening 23 II Soft-Matter Paradigms 31 6 Principles of hydrodynamics 32 7 Rheology of simple and complex fluids 41 8 Flexible polymers and renormalization 51 9 Semiflexible polymers and elastic singularities 63 ∗The script is not meant to be a substitute for reading proper textbooks nor for dissemina- tion. (See the notes for the introductory course for background information.) Comments and suggestions are highly welcome. 1 \Soft Matter" is one of the fastest growing fields in physics, as illustrated by the APS Council's official endorsement of the new Soft Matter Topical Group (GSOFT) in 2014 with more than four times the quorum, and by the fact that Isaac Newton's chair is now held by a soft matter theorist. It crosses traditional departmental walls and now provides a common focus and unifying perspective for many activities that formerly would have been separated into a variety of disciplines, such as mathematics, physics, biophysics, chemistry, chemical en- gineering, materials science. It brings together scientists, mathematicians and engineers to study materials such as colloids, micelles, biological, and granular matter, but is much less tied to certain materials, technologies, or applications than to the generic and unifying organizing principles governing them. In the widest sense, the field of soft matter comprises all applications of the principles of statistical mechanics to condensed matter that is not dominated by quantum effects. -
Geometric Charges and Nonlinear Elasticity of Two-Dimensional Elastic Metamaterials
Geometric charges and nonlinear elasticity of two-dimensional elastic metamaterials Yohai Bar-Sinai ( )a , Gabriele Librandia , Katia Bertoldia, and Michael Moshe ( )b,1 aSchool of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138; and bRacah Institute of Physics, The Hebrew University of Jerusalem, Jerusalem, Israel 91904 Edited by John A. Rogers, Northwestern University, Evanston, IL, and approved March 23, 2020 (received for review November 17, 2019) Problems of flexible mechanical metamaterials, and highly A theoretical analysis of the elastic problem requires solv- deformable porous solids in general, are rich and complex due ing the nonlinear equations of elasticity while satisfying the to their nonlinear mechanics and the presence of nontrivial geo- multiple free boundary conditions on the holes’ edges—a seem- metrical effects. While numeric approaches are successful, ana- ingly hopeless task from an analytic perspective. However, direct lytic tools and conceptual frameworks are largely lacking. Using solutions of the fully nonlinear elastic equations are accessi- an analogy with electrostatics, and building on recent devel- ble using finite-element models, which accurately reproduce the opments in a nonlinear geometric formulation of elasticity, we deformation fields, the critical strain, and the effective elastic develop a formalism that maps the two-dimensional (2D) elas- coefficients, etc. (6). The success of finite-element (FE) simula- tic problem into that of nonlinear interaction of elastic charges. tions in predicting the mechanics of perforated elastic materials This approach offers an intuitive conceptual framework, qual- confirms that nonlinear elasticity theory is a valid description, itatively explaining the linear response, the onset of mechan- but emphasizes the lack of insightful analytical solutions to ical instability, and aspects of the postinstability state. -
On the Path-Dependence of the J-Integral Near a Stationary Crack in an Elastic-Plastic Material
On the Path-Dependence of the J-integral Near a Stationary Crack in an Elastic-Plastic Material Dorinamaria Carka and Chad M. Landis∗ The University of Texas at Austin, Department of Aerospace Engineering and Engineering Mechanics, 210 East 24th Street, C0600, Austin, TX 78712-0235 Abstract The path-dependence of the J-integral is investigated numerically, via the finite element method, for a range of loadings, Poisson's ratios, and hardening exponents within the context of J2-flow plasticity. Small-scale yielding assumptions are employed using Dirichlet-to-Neumann map boundary conditions on a circular boundary that encloses the plastic zone. This construct allows for a dense finite element mesh within the plastic zone and accurate far-field boundary conditions. Details of the crack tip field that have been computed previously by others, including the existence of an elastic sector in Mode I loading, are confirmed. The somewhat unexpected result is that J for a contour approaching zero radius around the crack tip is approximately 18% lower than the far-field value for Mode I loading for Poisson’s ratios characteristic of metals. In contrast, practically no path-dependence is found for Mode II. The applications of T or S stresses, whether applied proportionally with the K-field or prior to K, have only a modest effect on the path-dependence. Keywords: elasto-plastic fracture mechanics, small scale yielding, path-dependence of the J-integral, finite element methods 1. Introduction The J-integral as introduced by Eshelby [1,2] and Rice [3] is perhaps the most useful quantity for the analysis of the mechanical fields near crack tips in both linear elastic and non-linear elastic materials. -
Introduction to FINITE STRAIN THEORY for CONTINUUM ELASTO
RED BOX RULES ARE FOR PROOF STAGE ONLY. DELETE BEFORE FINAL PRINTING. WILEY SERIES IN COMPUTATIONAL MECHANICS HASHIGUCHI WILEY SERIES IN COMPUTATIONAL MECHANICS YAMAKAWA Introduction to for to Introduction FINITE STRAIN THEORY for CONTINUUM ELASTO-PLASTICITY CONTINUUM ELASTO-PLASTICITY KOICHI HASHIGUCHI, Kyushu University, Japan Introduction to YUKI YAMAKAWA, Tohoku University, Japan Elasto-plastic deformation is frequently observed in machines and structures, hence its prediction is an important consideration at the design stage. Elasto-plasticity theories will FINITE STRAIN THEORY be increasingly required in the future in response to the development of new and improved industrial technologies. Although various books for elasto-plasticity have been published to date, they focus on infi nitesimal elasto-plastic deformation theory. However, modern computational THEORY STRAIN FINITE for CONTINUUM techniques employ an advanced approach to solve problems in this fi eld and much research has taken place in recent years into fi nite strain elasto-plasticity. This book describes this approach and aims to improve mechanical design techniques in mechanical, civil, structural and aeronautical engineering through the accurate analysis of fi nite elasto-plastic deformation. ELASTO-PLASTICITY Introduction to Finite Strain Theory for Continuum Elasto-Plasticity presents introductory explanations that can be easily understood by readers with only a basic knowledge of elasto-plasticity, showing physical backgrounds of concepts in detail and derivation processes