Micromorphic continuum Part I: Strain and stress tensors and their associated rates

Micropolar and micromorphic solids are continuum mechanics models, which take into account, in some sense, the microstructure of the considered real material. The characteristic property of such continua is that the state functions depend, besides the classical deformation of the macroscopic material body, also upon the deformation of the microcontinuum modeling the microstructure, and its gradient with respect to the space occupied by the material body. While micropolar plasticity theories, including non-linear isotropic and non-linear kinematic hardening, have been formulated, even for non-linear geometry, few works are known yet about the formulation of (finite deformation) micromorphic plasticity. It is the aim of the three papers (Parts I, II, and III) to demonstrate how micromorphic plasticity theories may be formulated in a thermodynamically consistent way.In the present article we start by outlining the framework of the theory. Especially, we confine attention to the theory of Mindlin on continua with microstructure, which is formulated for small deformations. After precising some conceptual aspects concerning the notion of microcontinuum, we work out a finite deformation version of theory, suitable for our aims. It is examined that resulting basic field equations are the same as in the non-linear theory of Eringen, which deals with a different definition of the microcontinuum. Furthermore, geometrical interpretations of strain and curvature tensors are elaborated. This allows to find out associated rates in a natural manner. Dual stress and double stress tensors, as well as associated rates, are then defined on the basis of the stress powers. This way, it is possible to relate strain tensors (respectively, micromorphic curvature tensors) and stress tensors (respectively, double stress tensors), as well as associated rates, independently of the particular constitutive properties.