Abstract
The coupling between kinematics and kinetics and the invariance requirements under superposed rigid body rotations, determine unambiguously the proper general form of the elastoplastic rate constitutive equations, in terms of the values of the state variables and their rates in reference to the current and any choice of the unstressed configuration. Topics such as the effect of changing the stress rate, small elastic deformations with or without large volumetric elastic strains, rate effects and viscoplasticity, an example on single slip, the effect of the plastic spin constitutive relations and the concept of an effectively unstressed configuration, are addressed in detail. Issues and different approaches debated in the past are discussed, compared and clarified.
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