A generalized continuum theory for granular materials

A generalized continuum theory for granular media is formulated by allowing for the possibility of rotation of granules. The basic balance laws are presented and based on thermodynamical consideration a set of constitutive equations are derived. The theory naturally gives rise to the generation of antisymmetric stress tensor and existence of couple stresses. The basic equations of motion are derived and it is shown that the theory contains Mohr-Coulomb criterion of limiting equilibrium as a special case. The problem of coupled porosity and microrotational wave propagation is investigated and the rectilinear shear flow of granular materials is discussed.