The structural flexibility of low dimensional nanomaterials offers unique opportunities for studying the impact of strain on their physical properties and for developing innovative devices utilizing strain engineering. A key towards such goals is a device platform which allows the independent tuning and reliable calibration of the strain. Here we report the fabrication and characterization of graphene nanoelectromechanical resonators(GNEMRs) on flexible substrates. Combining substrate bending and electrostatic gating, we achieve the independent tuning of the strain and sagging in graphene and explore the nonlinear dynamics over a wide parameter space. Analytical and numerical studies of a continuum mechanics model, including the competing higher order nonlinear terms, reveal a comprehensive nonlinear dynamics phase diagram, which quantitatively explains the complex behaviors of GNEMRs.
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