Description

Simple linear elasticity model for a Cosserat beam, using basic material properties (zz and yy moments of inertia, area, Young modulus, etc.) The classical Timoshenko beam theory is encompassed in this model, that can be interpreted as a 3D extension of the Timoshenko beam theory.

This can be shared between multiple beams.

#include <ChBeamSectionCosserat.h>

Inheritance diagram for chrono::fea::ChElasticityCosseratSimple:

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Collaboration diagram for chrono::fea::ChElasticityCosseratSimple:

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Public Member Functions
void	SetIyy (double ma)
	Set the Iyy moment of inertia of the beam (for flexion about y axis). More...

double	GetIyy () const

void	SetIzz (double ma)
	Set the Izz moment of inertia of the beam (for flexion about z axis). More...

double	GetIzz () const

void	SetJ (double ma)
	Set the J torsion constant of the beam (for torsion about x axis)

double	GetJ () const

void	SetKsy (double ma)
	Set the Timoshenko shear coefficient Ks for y shear, usually about 0.8, (for elements that use this, ex. More...

double	GetKsy () const

void	SetKsz (double ma)
	Set the Timoshenko shear coefficient Ks for z shear, usually about 0.8, (for elements that use this, ex. More...

double	GetKsz () const

virtual void	SetAsRectangularSection (double width_y, double width_z) override
	Shortcut: set Area, Ixx, Iyy, Ksy, Ksz and J torsion constant at once, given the y and z widths of the beam assumed with rectangular shape.

virtual void	SetAsCircularSection (double diameter) override
	Shortcut: set Area, Ixx, Iyy, Ksy, Ksz and J torsion constant at once, given the diameter of the beam assumed with circular shape.

void	SetYoungModulus (double mE)
	Set E, the Young elastic modulus (N/m^2)

double	GetYoungModulus () const

void	SetGshearModulus (double mG)
	Set G, the shear modulus.

double	GetGshearModulus () const

void	SetGwithPoissonRatio (double mpoisson)
	Set G, the shear modulus, given current E and the specified Poisson ratio.

void	SetBeamRaleyghDamping (double mr)
	Set the Rayleigh damping ratio r (as in: R = r * K ), to do: also mass-proportional term.

double	GetBeamRaleyghDamping ()

virtual void	ComputeStress (ChVector<> &stress_n, ChVector<> &stress_m, const ChVector<> &strain_e, const ChVector<> &strain_k) override
	Compute the generalized cut force and cut torque. More...

virtual void	ComputeStiffnessMatrix (ChMatrixDynamic<> &K, const ChVector<> &strain_e, const ChVector<> &strain_k) override
	Compute the 6x6 tangent material stiffness matrix [Km] = dσ/dε. More...

Public Attributes
double	Iyy

double	Izz

double	J

double	G

double	E

double	rdamping

double	Ks_y

double	Ks_z

Public Attributes inherited from chrono::fea::ChElasticityCosserat
ChBeamSectionCosserat *	section

Member Function Documentation

◆ ComputeStiffnessMatrix()

void chrono::fea::ChElasticityCosseratSimple::ComputeStiffnessMatrix	(	ChMatrixDynamic<> &	K,
		const ChVector<> &	strain_e,
		const ChVector<> &	strain_k
	)

overridevirtual

Compute the 6x6 tangent material stiffness matrix [Km] = dσ/dε.

Parameters

K	6x6 stiffness matrix
strain_e	local strain (deformation part): x= elongation, y and z are shear
strain_k	local strain (curvature part), x= torsion, y and z are line curvatures

Reimplemented from chrono::fea::ChElasticityCosserat.

Reimplemented in chrono::fea::ChElasticityCosseratAdvanced.

◆ ComputeStress()

void chrono::fea::ChElasticityCosseratSimple::ComputeStress	(	ChVector<> &	stress_n,
		ChVector<> &	stress_m,
		const ChVector<> &	strain_e,
		const ChVector<> &	strain_k
	)

overridevirtual

Compute the generalized cut force and cut torque.

Parameters

stress_n	local stress (generalized force), x component = traction along beam
stress_m	local stress (generalized torque), x component = torsion torque along beam
strain_e	local strain (deformation part): x= elongation, y and z are shear
strain_k	local strain (curvature part), x= torsion, y and z are line curvatures

Implements chrono::fea::ChElasticityCosserat.

Reimplemented in chrono::fea::ChElasticityCosseratAdvanced.

◆ SetIyy()

void chrono::fea::ChElasticityCosseratSimple::SetIyy ( double ma )

inline

Set the Iyy moment of inertia of the beam (for flexion about y axis).

Note: some textbook calls this Iyy as Iz

◆ SetIzz()

void chrono::fea::ChElasticityCosseratSimple::SetIzz ( double ma )

inline

Set the Izz moment of inertia of the beam (for flexion about z axis).

Note: some textbook calls this Izz as Iy

◆ SetKsy()

void chrono::fea::ChElasticityCosseratSimple::SetKsy ( double ma )

inline

Set the Timoshenko shear coefficient Ks for y shear, usually about 0.8, (for elements that use this, ex.

the Timoshenko beams, or Reddy's beams)

◆ SetKsz()

void chrono::fea::ChElasticityCosseratSimple::SetKsz ( double ma )

inline

Set the Timoshenko shear coefficient Ks for z shear, usually about 0.8, (for elements that use this, ex.

the Timoshenko beams, or Reddy's beams)

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionCosserat.h
/builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionCosserat.cpp

Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ ComputeStiffnessMatrix()

◆ ComputeStress()

◆ SetIyy()

◆ SetIzz()

◆ SetKsy()

◆ SetKsz()