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In this paper, an accurate yet computationally efficient beam model based on hierarchical Legendre expansion functions is developed for the analysis of non-uniform or restrained torsion problems of Functionally Graded (FG) beams with solid or thin-walled section. The mechanical properties of the FG beams studied in this paper, such as Young’s modulus and shear modulus, are assumed to continuously vary along either the length or thickness direction following a power-law distribution. The proposed beam model is based on the assumption that the beam’s cross-section is infinitely rigid in its own plane. However, the longitudinal displacement field over the beam’s cross-section is enriched in an element-wise manner by the unknown longitudinal displacement parameters multiplying with hierarchical Legendre expansion functions. The proposed modeling methodology has two novel aspects: First, it allows the torsional or twisting angle, which is  a priori  defined as an unknown kinematic variable, to be directly captured without a post-processing recovery step, even if there exists a strong flexual-torsional coupling within the beam; second, the longitudinal warping response of the beam, triggered by stretching, bending, twisting, or the coupling between them, can be captured without the pre-determination of warping modes and at a lower level of DOFs. The strong-form governing equations of non-uniform or restrained torsion problems of the FG beam are derived based on the principle of minimum potential energy and is directly solved by the high-quality general-purpose ordinary differential equation (ODE) solver, i.e. COLSYS ODE solver. Also, a more efficient Rayleigh-Ritz energy method is applied to provide the weak-form solutions. The resulting beam model is suitable to a more general cross-section, such as solid section, branched open section, or half open-half closed section. The accuracy and efficiency of the proposed beam model are validated extensively by comparing with the previously published results in literature. Effects of the power-law index, taper ratio, and section-type on the torsional response of FG beams with material gradation along length or thickness direction are studied with various numerical examples.

Non-uniform torsion analysis of functionally graded beams with solid or thin-walled section using hierarchical Legendre expansion functions