2.

7 Rate Constitutive Equations

The relation between the time rates of the second Piola-Kirchhoff stress tensor and the Lagrangian strain tensor can be
evaluated by means of linearization of along because then
2.168
but, on the basis of Section 2.2.5, the directional derivatives of and along are equal to their time rates
; 2.169
and, on the basis of Section 2.6, the 4th order tensor corresponds to the elasticity tensor C , hence
2.170
or in indicial form
2.171
In the current configuration an equivalent to Eq. 2.170 relation can also be obtained. From Section 2.3.1, the relation between
the Truesdell rate of Cauchy stress tensor and is
2.172
Also from Section 2.2.6
2.173
Substituting Eq. 2.171 and Eq. 2.173 into Eq. 2.172

2.174
 2.7 Rate Constitutive Equations
A comparison with Eq. A.2.6.4 indicates that
2.175
i.e. the spatial elasticity tensor.
Hence 2.176
Or 2.177
Pinsky et al. [1983] comment that the Truesdell rate of Cauchy stress is the only stress rate having a linear dependence on the
rate of deformation tensor through the spatial elastic modulus tensor which is a function only of the deformation.
 Hyperelasticity
3.1 Introduction
In Chapter 2 it was stated that a material is termed elastic if the stress at any time is a function only of the state of deformation
(and the temperature). It was also stated that elastic materials have zero internal dissipation for every admissible process.
Introducing the additional requirement that the Helmholtz free energy is solely a function of the deformation gradient so that
3.1
then, from the Clausius-Planck relation for a non-dissipative material
D 3.2
Since is arbitrary it results
3.3
Elastic materials for which the stress tensor can be defined on the basis of Eq. 3.3 constitute a subclass of elastic materials
termed hyperelastic.
Considering that the double contraction expresses work per unit reference volume, it can be concluded that, for a hyperelastic
material, the strain energy function corresponds to the work done by the stresses from the initial to the final configuration
3.4
The strain energy resulting from the motion must be objective. According to Section 2.2.8 this implies that for every orthogonal
rotation tensor
 Hyperelasticity
3.5
Since is arbitrary, it can be replaced by the transpose of the rotation tensor resulting from the polar decomposition of
3.6
This relation indicates the necessary and sufficient condition for the strain energy to be objective, Holzapfel [2000]. Then, on the
basis of Eq. 2.26 and Eq. 2.14 it is also valid
3.7
Considering the time derivative of Eq. 3.7

3.8
from which
3.9
and hence 3.10
Then on the basis of Eq. 2.80 and Eq. 2.81
; 3.11
 Hyperelasticity
3.2 Isotropic Hyperelastic Material Response
The requirement of objectivity of the strain energy function as expressed by Eq. 3.6 is a general requirement necessary for the
response of any hyperelastic material. The notion of isotropy expresses the observation that, many engineering materials exhibit
during testing the same physical response irrespective of the direction of testing.
Isotropy imposes limitations on the nature of the strain energy function. Let denote the motion of a point of a hyperelastic
continuum. Another motion is now considered consisting first of a rigid body rotation of the continuum and then, of a motion
which moves the continuum to the same location as i.e. such that
3.12
It holds 3.13
A hyperelastic material is termed isotropic with respect to the reference configuration if the following relation holds
3.14
In similarity to Eq. 3.71 it can also be written
3.15
so that from Eq. 3.14
3.16
By replacing with the orthogonal rotation tensor , the strain energy function may also be expressed in terms of the left Cauchy-
Green tensor
3.17
 Hyperelasticity
Functions fulfilling Eq. 3.16 for any symmetric tensor and orthogonal tensor are termed scalar valued isotropic tensor functions,
Rivlin and Ericksen [1955]. They posses the important characteristic that they can be expressed equivalently via the invariants of
their arguments i.e.
, , 3.18
With

3.19

in which are the principal stretches.

Several forms of strain energy functions can be encountered in literature. The Blatz-Ko function originally proposed for a
compressible material Blatz & Ko [1962] was based on theoretical arguments and was substantiated by experimental data. It has
the form
,
; 3.20
in which and are the Lamé material constants and is the Poisson ratio.
By setting in the above the strain energy function describing what has become known as the compressible neo-Hookean model is
obtained Lurie [1990], Lubarda [2002]
 Hyperelasticity
, ; 3.21
In the previous Section, the various stress tensors were expressed in terms of the tensor . On the basis of Eq. 3.18
3.22

3.23
For computation of the third derivative, , the concept of the directional derivative can be utilized, Bonet and Wood [1999],
Holzapfel [2000]. Accordingly it results
3.24
Introducing the above into Eq. 3.111 enables the stress tensor to be evaluated as
3.25

in which the coefficients , , for the Blatz-Ko and the neo-Hookean compressible isotropic hyperelastic models are shown in Table
3-1.
An alternative expression for the Cauchy stress tensor can be obtained by means of Eq. 3.112 as
3.26
 Hyperelasticity
where the relation has been utilized.
 Hyperelasticity
3.2.1 Elasticity Tensor
In Chapter 2 the 4th order elasticity tensor was defined as
3.27
or equivalently by means of Eq. 3.11 and Eq. 3.22
; 3.28
Expanding Eq. 3.28 (Appendix 3.1), an expression convenient for computation and numerical implementation is obtained for the
elasticity tensor in terms of the invariant set :

3.29
With
 Hyperelasticity

3.30

is the 4th order identity tensor defined as . The 4-th order tensor is defined, Holzapfel [2000], Lubarda [2002], as
; 3.31
Coefficients for the Blatz-Ko and the neo-Hookean compressible isotropic hyperelastic models can be found in Table 3-2.
It is worth noticing that in the case of small strains when , the coefficients and of the neo-Hookean material are associated with
the Lamé constants of small strain elasticity.
Hyperelasticity