Biaxial ratcheting analysis based on real behaviors of subsequent yield surface

•Rotative swing of the subsequent yield surface is newly discovered.•Change in shape of yield surface is discussed during half cycle in ratcheting.•Translation rule of yield surface under ratchetting is investigated experimentally.•A plastic theory was newly established based on the real behaviors of yield surface.•A rather simple model was proposed by introducing the modified flow rule.•The presented model is viable for analyzing biaxial ratcheting of various metals.