A finite element formulation is presented for a direct approach to model elastoplastic deformation in slender bodies using the special Cosserat rod theory. The direct theory has additional plastic strain and hardening variables, which are functions of just the rod's arc-length, to account for plastic deformation of the rod. Furthermore, the theory assumes the existence of an effective yield function in terms of stress resultants, i.e., force and moment in the cross-section and cross-section averaged hardening parameters.
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