Nonlinear Elasticity

Nonlinear Elasticity
7/18/05 Princeton Elasticity Lectures

Outline
Some basics of nonlinear elasticity

Nonlinear elasticity of biopolymer
networks
Nematic elastomers

What is Elasticity
Description of distortions of rigid bodies

and the energy, forces, and fluctuations
arising from these distortions.
Describes mechanics of extended
bodies from the macroscopic to the
microscopic, from bridges to the
cytoskeleton.

Classical Lagrangian Description
x R( x )
x
R( x)
R( x) = x + u(x)
Reference material in D Material distorted to new
dimensions described by positions R(x)
a continuum of mass
points x. Neighbors of
Ri
L ia = = di a + hi a
points do not change xa
under distortion Cauchy deformation tensor
hi a = a ui
Linear and Nonlinear Elasticity
Linear: Small deformations L near 1
Nonlinear: Large deformations L >>1
Why nonlinear?
Systems can undergo large deformations rubbers,
polymer networks ,
Non-linear theory needed to understand properties of
statically strained materials
Non-linearities can renormalize nature of elasticity
Elegant an complex theory of interest in its own right
Why now:
New interest in biological materials under large strain
Liquid crystal elastomers exotic nonlinear behavior
Old subject but difficult to penetrate worth a fresh look
Deformations and Strain
Complete information about shape of body in R(x)= x +u(x);
u= const. translation no energy.
No energy cost unless u(x) varies in space.
For slow variations, use the Cauchy deformation tensor
L i a = di a + a u i = di a + hi a
d 3R = det L d 3x
%
det L = 1 : No volume change
%
L - 1/ 2 0 0

L= 0 L - 1/ 2
0

L
%

0
0 L

Volume preserving stretch along z-axis L
Simple shear strain Constant Volume, but note
stretching of sides
Note: L is not symmetric
originally along x or y.
1 L

L =

% 0 1
1 0

L =

Rotate
% L 1
Not equivalent to

Pure Shear
Pure shear: symmetric deformation tensor with unit
determinant equivalent to stretch along 45 deg.
1 + L2
L

L =

% L 2
1+ L


Pure shear as stretch
x R i R i R j x
1 1 1 x x Li
y U y x R j x x
y 2 1 1

U ijT Lj U
L U LU T
1 L2 L 0

0 1 L2 L


Pure to simple shear
cos sin 1 L2 L
L
sin
cos L 1 L2 L
t an
1 L2
1 2L 2 2L 1 2L 2

0 (1 2L2 ) 1 / 2


Cauchy Saint-Venant Strain
R=Reference space
T=Target space
dR 2 - dx 2 = 2u a bdx a dx b
Ri
L ia = = di a + hi a
u is invariant under rotations xa
in the target space but
u = 2 ( L L - d) 2 ( h + h )
1 T 1 T
transforms as a tensor under % %% % % %
rotations in the reference
space. It contains no
(
u a b = 21 a u b + b u a + a u k a u k )
information about orientation Symmetric!
of object.
Elastic energy
The elastic energy should be invariant under rigid rotations
in the target space: if is a function of u.
F xf (u )
1 D
2 d
x [K u u u ]
1 D
2 d
This energy is automatically invariant under rotations in
target space. It must also be invariant under the point-
group operations of the reference space. These place
constraints on the form of the elastic constants.
Note there can be a linear stress-like term. This can
be removed (except for transverse random components)
by redefinition of the reference space
Elastic modulus tensor
Kc is the elastic constant or elastic modulus tensor.
It has inherent symmetry and symmetries of the
reference space.
K K K K
Isotropic system
K ( )
Uniaxial (n = unit vector along uniaxial direction)
K C 1n n n n C 2 (n n T n n
T
)
C 3
T
T 21 C 4 (T
T

T

T
)
14 C 5 (n n
T
n n
T
n n
T
n n
T
)

Isotropic and Uniaxial Solid
Isotropic: free energy density f has
two harmonic elastic constants
- 1 Invariant under
f = f ( L ) = f (U LV )
- 1 R( x) UR(Vx)
f = f (u ) = f (V uV )
= shear modulus;
2 2 3 2 2
= 21 Bu aa + mT ru% - C T ru% + D (T ru% ) B = bulk modulus
Uniaxial: five harmonic elastic constants Invariant under

f = 21 C 1u zz2 + C 2u zz u nn + 21 C 3u nn
2
R( x) UR(Vuni x)
+ C 4u nt2 + C 5u n2z ;
xa = (xn , x z )
Force and stress I
fi i F ext d D x fi u i d D x i u i
external force density vector in target space. The
stress tensor i is mixed. This is the engineering or 1st
Piola-Kirchhoff stress tensor = force per area of
reference space. It is not necessarily symmetric!
dF f du a b ( x )
- = d x
D
= fi = - a s i a
du i ( x) u a b ( x ) du i ( x)
du a b ( x ) f
= 1
(L ia + L i b a)d( x - x ) s ia = L ib L i b s ba
II
du i ( x)
2 b u ba
II is the second Piola-Kirchhoff stress tensor - symmetric

Note: In a linearized theory, i = iII
Cauchy stress
The Cauchy stress is the familiar force per unit area in the
target space. It is a symmetric tensor in the target space.

i
=
d I d C
d x s u
ia a i
d R s ij
u
j i Ri
d d R = det L d d x Ri
% a = = = L ia i
xa x a Ri
C 1 I T 1
s =
ij
s ia L a j = L i a s aIIb LTa j
det L det L
% %
C 1 Symmetric as required
s = L s II LT
% det L %% %
%

Coupling to other fields
We are often interested in the coupling of target-space vectors
like an electric field or the nematic director to elastic strain.
How is this done? The strain tensor u is a scalar in the
target space, and it can only couple to target-space scalars,
not vectors.
Answer lies in the polar decomposition theorem
L = L(LT L )- 1/ 2 (LT L )1/ 2 Q M 1/ 2

% % T % % %% %%- 1/ 2
M = L L = (d + 2u ); Q = L M
% %% % % % %%
OOT = L M - 1/ 2 (L M - 1/ 2 )T = L M - 1/ 2M - 1/ 2LT = L(LT L )- 1 LT = d
%% %% %% %% % % %% % % %
M is symmetric and depends on u only.
% %
O is an orthogonal, unimodular rotation matrix
%
Target-reference conversion
The rotation matrix O converts target-space
%
vectors E i to reference-space vectors E%a and vice-versa
E i = Oi a E%a ; E%a = O aTi E i
If L is symmetric, Oi a = di a .
%
Oi a di a + 21 ( a u i - iu a )
di a - ei a k Wk
To linear order in u, Oi has a term proportional to the

antisymmetric part of the strain matrix.

Strain and Rotation
Symmetric Simple Shear

Rotation
shear
%is a reference space vector; it is equal to the

n
target space vector that is obtained when L is
symmetric

Sample couplings
Coupling of electric field to strain
u a b E%a E%b = E iOi a u a bO bT j E j vij E i E j
OuO T = 1
2 L( LT L )- 1/ 2 ( LT L - d)( LT L )- 1/ 2 LT
%%% %% % %% % %% %
1 T
= 2 ( LL - d) = v
%% % %
Free energy no longer depends on the strain u only.
The electric field defines a direction in the target
space as it should
f T f (u ) gE i E j vij Ri R i x b
L ia = = = L ib L 0 ba
xa x b x a
Energy depends on
both symmetric and Li i i
anti-symmetric parts
of
Biopolymer Networks
cortical actin gel neurofilament network

Characteristics of Networks
Off Lattice
Complex links, semi-flexible rather than
random-walk polymers
Locally randomly inhomogeneous and
anisotropic but globally homogeneous
and isotropic
Complex frequency-dependent rheology
Striking non-linear elasticity

Goals
Strain Hardening (more resistance to
deformation with increasing strain)
physiological importance
Formalisms for treating nonlinear
elasticity of random lattices
Affine approximation
Non-affine

Different Networks
Strain stiffening of semiflexible biopolymer networks
Max strain ~.25
1000
Collagen except for
vimentin and
polyacrylamide
NF
(Pa)
100 Vimentin
pl at
Actin
Max stretch:
G or G'
Fibrin L(L)/L~1.13 at
NF 45 deg to
10 normal
0.01 0.1 1
Strain

Semi-microscopic models
Random or periodic
crosslinked network: Elastic
energy resides in bonds
(links or strands)
connecting nodes
Rb = separation of nodes in bond b

Vb(| Rb |) = free energy of bond b
F = b
V b (Rb ) = N V ( R) R0
nb = Number of
bonds per unit
volume of
F
ff = = nb V (R) R0
reference lattice
V
Affine Transformations
Reference network: Strained target network:

Positions R0 Ri=LijR0j
F L = O ( LT L )1/ 2 = O (1 + 2u )1/ 2
f = = nb V (L R 0 ) % %% % % %
V % R0 O = L( LT L )- 1/ 2 : Orthogonal
% %% %
Depends only on uij | L R b0 |= | (1 + 2u )1/ 2 R b0 |
% %
Example: Rubber
3 R2 Purely entropic force
V (R ) = T
2 Nb2
3 T T 1
F = nb V (L R) R
= 2
R 0
L LR0 = T n bTr LT L
% 2 Nb %% R0
2 %%
3 3R 2 1
P (R ) = exp - R 0i R 0 j = dij Nb2
2p Nb 2
2Nb
2 3

R 02 = Nb2
Average is over the end-to-end separation in a
random walk: random direction, Gaussian magnitude

Rubber : Incompressible Stretch
1 T 1
ff = T n bTr L L = T n bTr(1 + 2u )
2 %% 2 %
Unstable: nonentropic forces between atoms needed to
stabilize; Simply impose incompressibility constraint.
L - 1/ 2 0 0

L= 0 L - 1/ 2 0

0 0

L

1 2 2
ff = = n bT L +

2 L
Rubber: stress -strain
(AR LR ff ) f
fz = (V ff ) = = AR AR= area in
L L LR L
reference space
fz ff 1
s =e
= = nT L -
2
Engineering stress AR L L
Physical Stress fz f 2 1
s = = L = nT L -

A = AR/L = Area in A L L
target space
s nT 1
Y = = (1 + g )2 -
~ 3nT
Y=Youngs modulus g g
1+ g

General Case
e f ( L R 0 )i
Engineering s = = n V '( L R 0 ) % R0j
stress: not
ij
L ij % | LR0 |
symmetric
% R0
( L R 0 )i
= n t i ( L R 0 )R 0 j = n t ( L R 0 ) % R0j
% % | LR0 |
e ref
%
s ijdS j = s ijdS j dV (R )
Central force t ( R ) =
dS i = det L L -ji 1dS jref dR
Physical n t (L R 0 )
Cauchy Stress: s ij = % L ik R 0k L jl R 0l
det L | L R 0 |
Symmetric % % R0

Semi-flexible Stretchable Link
L0 dR z
R [t, v ] L = 0
ds
ds
L0
ds v 1 - 1
2 | t ^ |2

0
| t(s ) |= 1; t(s ) = ( t ^ (s ), 1- | t ^ (s ) |2 )
dR dR
= v(s )t(s ) = v t = unit tangent
ds ds v = stretch
1 dt
2
H = ds k ^

+ v t | t |2
+ K (v - 1) 2
2 ds ^

Length-force expressions
L(t,K) = equilibrium length at given t and K
t
L ( t , K ) = 1 + L 0[1 - g(j ( t , K ))];
K

1 L 1
1 2
g(j ) = 2 | t ^ | = 2 0
2
p Lp n = 1 n + j
;
L 0 p j cot h( p j ) - 1
=
Lp p 2j
L20 t k
j (t , K ) = t 1 + ; Lp =
kp2 K k BT

Force-extension Curves

Scaling at Small Strain
Theoretical curve:
calculated from
zero parameter fit to everything
K-1=0
G'/G' (0)
Strain/strain8

What are Nematic Gels?
Homogeneous Elastic media with

broken rotational symmetry
(uniaxial, biaxial)
Most interesting - systems with
broken symmetry that develops
spontaneously from a
homogeneous, isotropic elastic
state

Examples of LC Gels
1. Liquid Crystal Elastomers - Weakly crosslinked
liquid crystal polymers
Nematic Smectic-C
2. Tanaka gels with hard-rod
dispersion
3. Anisotropic membranes
4. Glasses with orientational order

Properties I
Large thermoelastic effects - Large
thermally induced strains - artificial muscles
Courtesy of
Eugene Terentjev
300% strain

Properties II
Large strain in small
temperature range
Terentjev

Properties III
Soft or Semi-soft elasticity
Vanishing xz shear modulus
Soft stress-strain for stress Warner Finkelmann

perpendicular to order
Model for Isotropic-Nematic trans.
2 2 3 2 2
1
f = Bu
2 aa + mTru% - C Tru% + D (Tru% )
1
u%a b = u a b - 3 da b u gg
approaches zero signals a transition to a nematic state with a

nonvanishing
(
u%a b = S n a n b - 1
3 da b )

Spontaneous Symmetry Breaking
Phase transition to anisotropic
state as goes to zero
T
u0 = 1
2 (L 0 L 0 - d)
L0 = d + 2u 0 Direction of n0 is
arbitrary
u%a b = u%0a b Symmetric-
Traceless
= Y(n a0n b0 - 1
3 da b ) part u a a ~ Y2
Strain of New Phase
R i ( x) = L 0ij x j + du i ( x) u is the strain relative
to the new state at
= x i+ u i( x )
points x
Ri R i x k
L ij = = = L ikL 0kj
xj x k x j
du = u - u 0 u is the deviation of
% % % the strain relative to the
= 21 (LT L - LT0 L 0 ) original reference frame R
%% %% from u0
T
= L0u ' L0
%%%
u is linearly proportional
u ' = 2 L L - d 2 ( h + h ) to u
T
1
( ) 1 T
% %
Elasticity of New Phase
Rotation of anisotropy
direction costs no energy
L 20||
r=
L 20^
u ' = (L )T - 1
(V u 0V - 1
- u 0 )L - 1 (r - 1)
0 0 u 'xz ~ q
4 r
1 - cos 2q 1
r sin 2q

C5=0 because of
= 14 (r - 1) 1
r sin 2q - r (1 - cos 2q)
1
rotational
invariance
fel = 21 C 1u zz2 + C 2u zzu nn
+ 21 C 3u nn
u nn
This 2nd order expansion
is invariant under all U
+ C 4u nt u nt + C 5u znu zn but only infinitesimal V
Soft Extensional Elasticity
1 - cos 2q 1
sin 2q
r

u = 14 (r - 1) 1
r sin 2q - 1

r (1 - cos 2q )
1
u zz = - u xx Strain uxx can be converted to a
r zero energy rotation by
1 developing strains uzz and uxz
u xz = u xx (r - 1 - 2u xx ) until uxx =(r-1)/2
2r
Frozen anisotropy: Semi-soft
System is now uniaxial why not simply use uniaxial elastic
energy? This predicts linear stress-stain curve and misses
lowering of energy by reorientation:
1 2 1 2 2 2
f = C u + C 2u zz u nn + C u + C u + C u
2 1 zz 2 3 nn 4 nt 5 nz
Model Uniaxial system:
Produces harmonic uniaxial f h (u ) = f (u ) - hu zz
energy for small strain but has
nonlinear terms reduces to f (u) : isotropic
isotropic when h=0
- 2u xz u xx - u zz

Rotation u u = u + q

u xx - u zz 2 u

xz
f (u ) = f (u ) - h(u zz + 2qu xz )
h

Semi-soft stress-strain
Ward Identity
df h
= - 2hu xz = 2s xz (u xx - u zz ) + 2(s zz - s xx )u xz
dq
(s xx - h )u xz
s xz = u xz = 0 or s xx = h
u xx - u zz
f h
s ab =
ua b
Second Piola-Kirchoff
stress tensor.

Semi-soft Extensions
Break rotational symmetry
Stripes form in real
systems: semi-soft, BC
Not perfectly soft because of residual

anisotropy arising from crosslinking in
the the nematic phase - semi-soft.
length of plateau depends on magnitude
of spontaneous anisotropy r.
Warner-Terentjev
Note: Semi-softness
only visible in nonlinear
Finkelmann, et al., J. Phys. II 7, 1059 (1997);
Warner, J. Mech. Phys. Solids 47, 1355 (1999) properties
Softness with Director
N unit vector along uniaxial direction in reference space;
layer normal in a locked SmA phase
n (n , n z ) n2 1 (N n )2 c2 ; u zz N u N , et c.
Red: SmA-SmC transition
f = 21 C 1u zz2 + C 2u zz u nn + 21 C 3u nn
2
+ C 4u nt2 + l 1n%n2u zz
+ C 5u n2z + D2n%%n u
n z nz + 1
2 D %
n
1 n
2
+ 1
4 gn%n4 + l 2n%n2u t t + L
= 21 C 1u zz2 + C 2u zz u nn + 21 C 3u nn
2
+ C 4u nt2
+ 21 D1[n%n + (D2 / D1 )u nz ]2 + [C 5 - 1
2 (D22 / D1 )]u n2z
2
1 D2
C5 = C5 -
R
= 0 Soft
Director relaxes to zero 2 D1

Nonlinear Elasticity

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Nonlinear Elasticity

Transféré par

Droits d'auteur :

Formats disponibles

Nonlinear Elasticity

7/18/05 Princeton Elasticity Lectures

Some basics of nonlinear elasticity

7/18/05 Princeton Elasticity Lectures

Description of distortions of rigid bodies

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

Uniaxial: five harmonic elastic constants Invariant under

II is the second Piola-Kirchhoff stress tensor - symmetric

7/18/05 Princeton Elasticity Lectures

L = L(LT L )- 1/ 2 (LT L )1/ 2 Q M 1/ 2

E i = Oi a E%a ; E%a = O aTi E i

To linear order in u, Oi has a term proportional to the

7/18/05 Princeton Elasticity Lectures

Symmetric Simple Shear

%is a reference space vector; it is equal to the

7/18/05 Princeton Elasticity Lectures

cortical actin gel neurofilament network

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

Rb = separation of nodes in bond b

Reference network: Strained target network:

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

Homogeneous Elastic media with

7/18/05 Princeton Elasticity Lectures

4. Glasses with orientational order

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

Vanishing xz shear modulus

Soft stress-strain for stress Warner Finkelmann

approaches zero signals a transition to a nematic state with a

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

7/18/05 Princeton Elasticity Lectures

Not perfectly soft because of residual

7/18/05 Princeton Elasticity Lectures

Vous aimerez peut-être aussi