A direct theory of affine rods is developed from first principles. To concentrate on the central aspects of the model, we use an axiomatic format and tools from Lie group theory. To facilitate comparisons with other theories, we propose an identification procedure to derive the constitutive relations of the affine rod from those of a rod modeled as a three-dimensional body.
NARDINOCCHI P, TERESI L, & TIERO A (2002). A Direct Theory of Affine Rods. EUROPEAN JOURNAL OF MECHANICS. A, SOLIDS, 21(4), 653-667 [10.1016/S0997-7538(02)01226-3].