adventures in structural design using theoretical ... · adventures in structural design using...

Adventures in Structural Design Using Theoretical, Computational, and

Experimental Fracture Mechanics

Roberto Ballarini

Leonard Case Jr. Professor of EngineeringCase Western Reserve University

University of MinnesotaApril 10, 2006

ThemeWhat I enjoy and have been doing.

•Mechanism-based design guidelines.•Exploration and modeling of failure mechanisms.

•Whatever it takes experimentation.

2 μm2 μm

Design of anchor boltsDesign guidelines for spur gears

Fatigue of MEMS materials/structuresMechanical testing

of nanofibers

( ) ( )θπ

θπ

σ IIij

IIIij

Iij f

rKf

rK

22+=

( ) criticalIIIIII FKKKF =,,

Stress field near crack tip

Initiation criterion

Linear Elastic Fracture MechanicsKI = mode I

stress intensity factor

KII = mode II stress intensity

factor

θ

Direction of growth

0=localIIK

crIKabaFIK == πσ)/(

m

IKCdNda

⎟⎠⎞⎜

⎝⎛Δ=

nIDK

dtda=

CRACK GROWTH MECHANISMS

Fast fracture

High cycle fatigue

Stress corrosion

ACI Code:2hfP tu ≈

ANCHOR BOLTS

h

2/32/3 hEGhKP fIcu =≈

Ballarini et al., Proc. Roy. Soc. Lond.,1985

PcK

θ

Stress intensity factor analysis

Design Curve

Crack Paths

Results of RILEM Round-Robin Tests

Now an undergradcan do these calculations

• Thin-rim gears desired for reduced weight.• Stress fields and failure characteristics significantly

different for thin-rim gears compared to conventional gears.• Designed according to standards published by AGMA.• Catastrophic failures have occurred in thin-rim gears.

Thick rim Thick rim --““benignbenign””

tooth tooth

fracturefracture

Thin rim Thin rim --catastrophic rim catastrophic rim

fracturefracture

Spur GearsSpur Gears

ObjectivesObjectives

Develop fracture mechanicsDevelop fracture mechanics-- based design guidelines to based design guidelines to

prevent rim fracture failure modes prevent rim fracture failure modes in gear tooth bending fatigue.in gear tooth bending fatigue.

hhmmBB ==bb

Definition of Backup Ratio (mB )Definition of Backup Ratio (mB )

b

h

Bending stress index

Crack mouthCrack tip

UserUser--defined defined initial crackinitial crack

Quarter-

pointrosette

Final mesh of Final mesh of initial crackinitial crack

Simulatedcracktrajectory

Initialcrackregion

Predicted crack pathPredicted crack path

Crack Modeling Using Finite Element MethodCrack Modeling Using Finite Element Method

Definition of Initial Crack Location (θ0 )Definition of Initial Crack Location (θ0 )

θθ00

PitchPitchradiusradius

Applied Applied tooth loadtooth load

Stress Intensity FactorsStress Intensity Factors

x

Initial crack mouth

Initial crack tipNew crack tip

Crack increment size

Predicted angle = Predicted angle = f f ( ( KKII II / / KKII ))

y

Gear tooth fillet

KI = mode I stress intensity

factor

KII = mode II stress intensity

factor

mIKC

dNda

⎟⎠⎞⎜

⎝⎛Δ=

Growth rate

Crack Propagation Angle and Growth RateCrack Propagation Angle and Growth Rate

⎥⎥⎥⎥⎥

⎦

⎤

⎢⎢⎢⎢⎢

⎣

⎡

−= 2 ⎟⎠⎞

⎜⎝⎛±

4

8+ KK

KK

II

I2

II

I

m1tanθ

Tooth load at Tooth load at HPSTCHPSTC

SlotsSlots

FixedFixedinnerinner--hubhubB.C.sB.C.s

Typical Finite Element Gear ModelTypical Finite Element Gear Model

Load Case Locations for FEMLoad Case Locations for FEM

Load case123456

78

9101112

1314

1516

1718

Tooth 1 Tooth 2 Tooth 3

0.26-mm crack size, 68 N-m driver gear torque.

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Gear Parameters:Gear Parameters:•• 28 teeth28 teeth•• 8 pitch8 pitch•• 1.75" pitch rad1.75" pitch rad•• 2020°°

pressure anglepressure angle

•• mmBB = 1.0= 1.0

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 120120°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 114114°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 109109°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 104104°°(max tensile)(max tensile)

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 9999°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 9494°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 8888°°(root centerline)(root centerline)

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 8383°°

Failure mode:Failure mode:ToothTooth

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 7878°°

Failure mode:Failure mode:RimRim

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 7373°°

Failure mode:Failure mode:RimRim

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Initial crackInitial cracklocation:location:

θθ

00 = = 6868°°

Failure mode:Failure mode:RimRim

fracturefracture

Effect of Initial Crack Location on Crack PathEffect of Initial Crack Location on Crack Path

Mode Istress

intensityfactor,

KI (ksi√in)

0

20

40

60

80

Crack Length, in0.0 0.1 0.2 0.3 0.4 0.5

Mode IIstress

intensityfactor,

KII (ksi√in)

-2

0

2

4

Stress Intensity FactorsStress Intensity Factors

θ0 =120°99°

88°83°

θ0 =68°

θ0 =83°

Backup ratio:Backup ratio:mmBB = = 1.01.0

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 8181°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 1.11.1

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 7676°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 1.21.2

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 7171°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 1.31.3

Tooth/rim fractureTooth/rim fracturetransition:transition:

All tooth fracturesAll tooth fractures

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 1.01.0

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 8181°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 0.90.9

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 8686°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 0.80.8

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 9191°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 0.70.7

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 9797°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 0.60.6

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 102102°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Backup ratio:Backup ratio:mmBB = = 0.50.5

Tooth/rim fractureTooth/rim fracturetransition:transition:

θθ

00 = = 107107°°

Effect of Backup Ratio on Crack PathEffect of Backup Ratio on Crack Path

Design MapDesign Map

T = tooth fracturesT = tooth fracturesR = rim fracturesR = rim fracturesC = compressionC = compression

Initial crack location, θ0 (deg)60708090100110120

Backupratio,mB

0.50.60.70.80.91.01.11.21.3

CRRRRRRRRRTTT

RRTT

CRRRRRRRTTTTT

CRRRTT

CRRRTT

CCRRRTTTTTTTT

CCRRTTTTTTTTT

CCRTTTTTTTTTT

CCTTTTTTTTTTT

Mode Istress

intensityfactor,

KI (ksi√in)

0

1

2

3

4

5

6

7

8

9

Mode I Stress Intensity FactorsMode I Stress Intensity Factors

0.5

0.71.0 1.3Backup ratio, mB

68

78

88

99

109

120

Initialcrack

location,θ0 (deg)

Gear Parameters:Gear Parameters:

•• 28 teeth28 teeth•• 8 pitch8 pitch•• 1.75" pitch rad1.75" pitch rad•• 2020°°

press anglepress angle

•• 500 lb tooth load500 lb tooth load•• 0.030" crack size0.030" crack size

Mode Istress

intensityfactor,

KI (ksi√in)

0

1

2

3

4

5

6

7

8

9

Mode I Stress Intensity FactorsMode I Stress Intensity Factors

0.5

0.71.0 1.3Backup ratio, mB

68

78

88

99

109

120

Initialcrack

location,θ0 (deg)

Gear Parameters:Gear Parameters:

•• 28 teeth28 teeth•• 8 pitch8 pitch•• 1.75" pitch rad1.75" pitch rad•• 2020°°

press anglepress angle

•• 500 lb tooth load500 lb tooth load•• 0.030" crack size0.030" crack size

•• AISI 9310 steelAISI 9310 steel•• ΔΔKKthth = 5 ksi= 5 ksi√√inin

Design MapDesign Map

T = tooth fracturesT = tooth fracturesR = rim fracturesR = rim fracturesN = no fractureN = no fracture

Initial crack location, θ0 (deg)60708090100110120

Backupratio,mB

0.50.60.70.80.91.01.11.21.3

NNNNRRRRRRTTT

RRTT

NNNNNNRRTTTTT

NNNNTT

NNNNNT

NNNNNNNTTTTTT

NNNNNNNTTTTTT

NNNNNNNTTTTTT

NNNNNNNTTTTTT

Test GearsTest Gears

Backup ratio = 3.3

Notch inserted in tooth fillet

Backup ratio = 1.0

Backup ratio = 0.3

AISI 9310 SteelCase carburized and ground

Effective Case Depth 0.032 in.

Crack growth gage

Spur gear rig at NASA Glenn

Specimen

Spur gear rig at NASA Glenn

PE

PE

PE

Backup ratio = 3.3Backup ratio = 3.3

Backup ratio = 1.0Backup ratio = 1.0

Backup ratio = 0.5Backup ratio = 0.5

E = ExperimentP = Predicted

Validation of Finite Element ModelingValidation of Finite Element Modeling

Fracture and Fatigue of MEMS Polysiliconand Silicon Carbide

Analog Devices GyroscopeiMEMS

Gyro Die Showing the Rate Sensor and Integrated Electronicshttp://www.analog.com/technology/mems/gyroscopes/index.html

MEMS Device-Fuel AtomizerMotivation• Reduce cost through batch fabrication• Achieve desired tolerances using a

precise silicon micromachining technology

Operation• Fuel enters the spin chamber

through tangential slots• Fuel swirls in the spin chamber

and exits through the orifice in a hollow conical spray

• Swirling produces sprays with wider spray angles as compared to plain orifice atomizers

Ant Carrying a (1000 µm)2

Microchip

Or is it a Palm Pilot?

silicon substrate

polysiliconSiO2SiO2

SiO2SiO2

crack surface

a)

b)

c)

d)

INDENTATION CRACKING

ORIGINAL OBJECTIVES

Characterize strength, fracture toughness, high cycle fatigue

and environmentally assisted crack growth

in poly-Si, poly-SiC,and SiC

at scales relevant to MEMS devices.

•Develop (micron size) on-chip specimens.•Generate data.

•Study mechanisms.•Formulate predictive models.

CHALLENGES

•Experiments are difficult to design, execute and interpret.

crIKabaFIK == πσ)/(

??? m

IKCdNda

⎟⎟⎠

⎞⎜⎜⎝

⎛Δ=

??? nIDK

dtda =

CRACK GROWTH MECHANISMS

Fast fracture

High cycle fatigue

Stress corrosion

If applicable, how sensitive are the parametersto processing procedures?

Two types of on-chip specimenshave been developed:

•Loading through electrostatic actuation•Loading through fabrication-induced residual stress

acr2μm

Say acr

=1μm

Say tlife

=10yrs

Then vcr

<10-15

m/s !!!

Why subcritical crack initiation andgrowth should be studied in MEMS

CVD Polysilicon - Effects of Deposition Temperature550°C 580°C 615°C

1100°C 570/615°C

all filmsare ~2-6 µmthick, anddepositedon SiO2

Fracture Mechanics Specimen

Actuator

anchor pads

movable comb drive

fixedcomb drive

MEMS Fracture Mechanics Specimenintegrated with

MEMS Loading Device Actuator

(Proc. Royal Soc. A, 455, 3807-3823, 1999)

produces ~0.7 mN

Fracture Device (notched specimen)

specimenspecimen

actuator

500 μm

ADVANTAGES OF THIS “ON-CHIP” SPECIMEN

•No need for external loading device.•Resonance loading can be used to study very high cycle fatigue.

•Uncracked ligament size of the same order as dimensions of typical MEMS components.

CURRENT LIMITATIONS

•Low “yield”, but improving

Sharpe and Bagdahn, Proc. Fatigue 2002

Fatigue of Notched Polysilicon

DIFFICULTIES IN DETERMINING ENVIRONMENTAL EFFECTSUSING THESE TESTS

•Tests involve cyclic loading, not constant load.

•Tests involve tension and compression.

100 μmSpecimen T 100 μm100 μmSpecimen T 100 μmSpecimen C100 μm100 μmSpecimen C

VARIATIONS ON A THEME

R-ratioand mean

stresseffects

Dynamic Fatigue Resultslow-cycle fatigue

1

2

3

4

5

6

-4 -3 -2 -1 0 1

Load Ratio, RLow

-Cyc

le F

atig

ue S

tren

gth,

σm

ax(G

Pa)

PolySi

thickness

Test Ambient3.5 μm air (105

Pa)5.7 μm air (105

Pa)5.7 μm

vacuum (10 Pa)

polysilicon

indent

2h = 500 μm

w=60 μmaA

silicon substrate

polysilicon

SiO2 anchors

B pre-crack

Stress Intensity and Stress vs. Crack Length

0.0

0.2

0.4

0.6

0.8

1.0

1.2

1.0 5 9 13 17 21 25 29 33 37 41 45 49 53 57

Crack Length [um]

Str

ess

Inte

nsi

ty

[MP

a m

1/2 ]

0.05.010.015.020.025.030.035.040.045.050.0

Str

ess

[MP

a]

Stress Intensity Stress*

)(* απσ FaK =

σ* = σresidual /(1+4aV(α)/2h)

PASSIVE DEVICE ASSOCIATEDWITH CONSTANT TENSION

(Science, 2002)

5 um

indent

substrate

pre-crack

beam

residual tensile stressbeam anchor (to substrate)

crack tip

1 um

INDENTATION CRACK

CWRU

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

0 5 10 15 20 25 30 35 40 45 50 55 60

Crack Length [μm]

Stre

ss In

tens

ity [M

Pa m

1/2 ]

= no propagation = propagation to failure

45 MPa

56 MPa

69 MPa

FINE-GRAINED POLYSILICONFRACTURE TOUGHNESS

FRACTURE TOUGHNESS DATA(MPa-m1/2)

Multilayered silicon 0.79<KIc

<0.84Fine-grained silicon

0.76<KIc

<0.86SiC

2.80<KIc

<3.41

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

0 5 10 15 20 25 30 35 40 45 50 55 60

Crack Length [μm]

Stre

ss In

tens

ity [M

Pa m

1/2 ]

= no propagation = propagation to failure

69 MPa

FINE-GRAINED SILICONSTATIC FATIGUE STUDY

90% RH

K between 0.62-

0.86 MPa-m1/2

No growth in 30 daysV< 3.9 x10-14

m/sSame results for eight multipoly

specimens

Stre

ss

Schematic Bend Strength Tests

Monotonic Increasing Amplitude Fatigue

1 Comp/Mono Fixed Δσ

Fatigue/Mono High T Hold/Mono

Time

Stre

ss

0

σm Δσσcr

10 min.= 5x106cycles

TimeSt

ress

0

σcrσhold

10 min.

Δσ=(σmax -σmin )

Time

Stre

ss

0σmax = σcr

σmin

σm

~1 min.(5x105cycles)

Time

0

σcr

σmin

Time

Stre

ss

0

σcr

Increasing Amplitude Fatigue B-doped polysilicon (no sputtered Pd)

Mean Stress, σm

(GPa)

Fatig

ue S

tren

gth,

σcr

(GPa

)

1.5

2

2.5

3

3.5

-2 -1 0 1 2

Monotonic Bend Strength after cycling with a fixed (low) amplitude

2

2.5

3

3.5

4

4.5

-5 -4 -3 -2 -1 0 1 2 3

Mean Stress, σm

(GPa)

Mon

oton

ic S

tren

gth,

σcr

it(G

Pa)

σa = 1.0 GPa

Time

Stre

ss

0

σcrit

Time

Stre

ss

0

σm Δσσcrit

10 min.= 6x106cycles

σa = Δσ/2

1.0 0

- 1.0

Mean Stress, σ m(GPa)

1.6

1.4

1.2

1.0

0.8

0.6N

orm

aliz

ed S

tren

gth,

σcr

it(G

Pa)

0 0.2 0.4 0.6 0.8

Fatigue Amplitude, σa (GPa)

Effects on Monotonic Bend Strength of mean stress σm , and fatigue amplitude σa

Fatigue Amplitude, σa

(GPa)

Mea

n St

ress

, σm

(GPa

)

low high

high

l

ow

low

high

tens

ile

com

pres

sive

weakening

weakening

strengthening

strengthening

no effect

no effect

(not measured)

undoped polysilicon

B-doped polysilicon

Mechanical Testing of Collagen Fibers (Nanotechnology)

• Most abundant protein in the human body.• One of the basic components of bone, ligaments,

tendons, teeth, skin.• Collagen monomer:

– Triple helical structure made of three chains of amino acids.

– The monomers assemble into fibrils.

Collagen Fibrils

Rho et al., 1998

Hierarchical Structure of Bone

Nanofiber

Testing Device

Journal of the Royal Society Interface, 2006.

Force: 0.1-100 µNDisplacement: 1-5 µm

A B

anchor

Actuation Force

fibril

anchorte ther beam s

canals

hole etched in substrate

stiffening com b drive

anchor

Actuation Force

fibril

anchorte ther beam s

canals

hole etched in substrate

stiffening com b drive

Labeling fibrils using fluorescent antibodies

1. Imaging using SEM2. Labeling

fibril

Primary antibody

Secondary antibody

Alexa Fluor 568

fibril

Primary antibody

Secondary antibody

Alexa Fluor 568

Fluorescently Labeled Collagen Fibers (Negative Image)

Different dilutions of the fibrils were imaged using SEMto determine the appropriate dilution at which individual

fibrils were distinguishable. The fibrils were labeled with fluorescentantibodies to achieve contrast and brightness under optical microscope

for 5 minutes. Anti-fading agents beingtried to allow 30 minutes of manipulation time.

Manipulation usingmicropipette

2 μm2 μm

0

20

40

60

80

100

120

140

160

0 1 2 3 4 5

1st test2nd test3rd test4th test

with fibril

1st test2nd test

without fibril

Displacement (μm)

Appl

ied

Vol

tage

(V)

0

20

40

60

80

100

120

0 5 10 15 20 25 30 35

Strain (%)S

tress

(MP

a)

200 μm

5 μmA

B D

C

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

with fibrilwithout fibril

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

with fibrilwithout fibril

F

E

fixed fingers

overlap

movablefingers

tether beams

anchor

anchoranchor anchor

0

20

40

60

80

100

120

140

160

0 1 2 3 4 5

1st test2nd test3rd test4th test

with fibril

1st test2nd test

without fibril

Displacement (μm)

Appl

ied

Vol

tage

(V)

0

20

40

60

80

100

120

0 5 10 15 20 25 30 35

Strain (%)S

tress

(MP

a)

200 μm

5 μmA

B D

C

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

with fibrilwithout fibril

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

0

10

20

30

40

50

60

0 1 2 3 4 5

Displacement (μm)

Forc

e (μ

N)

extra force needed to strain fibril

with fibrilwithout fibril

F

E

fixed fingers

overlap

movablefingers

fixed fingers

overlap

movablefingers

tether beams

anchor

anchoranchor anchor