Deformable Bodies Research Articles

SIMULATION OF ELASTOPLASTIC FRACTURE OF A CENTER CRACKED PLATE

The strength of a square plate with a central crack at normal separation was studied within the framework of the Neuber–Novozhilov approach using a modified Leonov–Panasyuk–Dugdale model using an additional parameter, the diameter of the plasticity zone (width of the pre-fracture zone). As a model of a deformable solid body, a model of an ideal elastic-plastic material with a limiting relative elongation was chosen. This class of materials includes, for example, low-alloy steels used in structures operating at temperatures below the cold brittleness threshold. In the presence of a singular feature in the stress field in the vicinity of the crack tip, it is proposed to use a two-parameter discrete integral strength criterion. The deformation fracture criterion is formulated at the tip of a real crack, and the force criterion for normal stresses, taking into account averaging, is formulated at the tip of a model crack. The lengths of real and model cracks differ by the length of the pre-fracture zone. The constitutive equations of the analytical model are analyzed in detail depending on the characteristic linear dimension of the material structure. Simple formulas suitable for verification calculations for the critical breaking load and the length of the pre-fracture zone are obtained. Numerical modeling of the propagation of plasticity zones in square plates under quasi-static loading has been performed. In the numerical model, the updated Lagrangian formulation of the equations of mechanics of a deformable solid body is used, which is most preferable for modeling the deformation of bodies made of an elastic-plastic material at large deformation. The plastic zone in the vicinity of the crack tip is obtained by the finite element method. The results of analytical and numerical prediction of plate fracture under plane deformation are compared. It is shown that the results of numerical experiments are in good agreement with the results of calculations using the analytical model of fracture of materials with a structure under normal separation. Diagrams of quasi-brittle and quasi-ductile fracture of a structured plate are constructed.

Empirical scaling of formation fracturing by high-energy impulsive mechanical loads

Recent technological advances to trigger high-energy seismic waves from within the wellbore have spurred interest in their potential application to induce fracturing within deep subsurface formations. Although a considerable body of experimental observations at the bench scale (on the order of 1 cubic foot) show promise, there remains considerable uncertainty in how the process may scale to the field. This work characterizes the relationship between the extent and intensity of fracturing and the duration and strength of the dynamic load. Our approach uses a direct numerical simulation of the elastodynamic equations while accounting for nonlinear fracture mechanics. A hybrid Finite-Discrete Element Method (FDEM) is applied whereby cohesive (elastoplastic) laws hold mesh elements together until complete failure. Beyond failure, elements act as deformable free bodies that can interact via contact constraints, including friction. The consistency of the model is first verified and it is validated with observations from previously reported physical experiments. Subsequently, we apply the model to conduct a numerical exploration of the dimensionless parameter space that defines plausible loading waveforms. We model an infinite domain that contains a spherical inclusion within which various impulsive loads are applied. The dynamic loading waveform is parameterized by its rise time to peak stress, followed by a decay period, and occurring within micro- to milliseconds. The dimensionless parameter space is sampled by varying loading characteristics (rise time, peak pressure, and impulse) to reveal the stimulated damaged bulk volume and crack intensity. Consistent with reported experimental observations, the model reproduces a nearly linear trend between the radius of damage and the maximum stress on the bench scale. Beyond that scale, however, the model predicts that this scaling slows considerably to a fractional power law between the damaged radius and the peak stress. This limitation coincides with a geometric increase in the intensity of damage within the stimulated volume. We present loci curves of the expected damage radii as functions of the loading waveform properties.

Thermal performance improvement for residential heritage building preservation based on digital twins

Excessive temperatures can result in the collapse of structural components, cracking, scaling, and condensation in heritage building structures. Numerous unregenerated residential heritage buildings use portable heaters to adjust the indoor temperature for the comfort of occupants. However, research on the impact of heaters on the preservation of heritage buildings is limited. This paper proposes a novel and systematic approach based on digital twin technology to improve thermal performance effectively in unregenerated heritage buildings by arranging the locations and settings of heaters for improving building preservation. This research extended the functionality of heritage building information modeling (HBIM) to support simulations and decision-making to improve the thermal performance for heritage building preservation. An approach was proposed to address the lack of information by integrating documents, information, and graphics into an HBIM model for heritage building preservation. The digital model process based on HBIM presented in this study can be an effective 3D model for computational fluid dynamics (CFD) simulations. To investigate the impact of the heater on heritage building deformation, a novel method was developed to couple CFD and structural simulation to analyze the thermal performance and building deformation of heritage buildings. The heritage building deformation resulting from the heaters’ power setting and location was identified and quantified. In addition, using the proposed digital twin platform, heaters were controlled automatically. The thermal performance, building cracking and deformation were monitored and recorded automatically along the lifecycle. The improved heater location reduced the maximum total deformation of the heritage building body by at least 62.9 %.

Experimental and numerical investigation on low‐velocity impact response of sandwich structure with functionally graded core

AbstractThe present research investigates optimizing the impact resistance of functionally graded sandwich structures using experimental and numerical approaches. The low‐velocity impact (LVI) responses of functionally graded sandwich composite (FGSC) with different configurations with skin material jute/rubber/jute (JRJ) and core material having epoxy and sea sand by volume fraction of sea sand at 0%, 10%, 20%, and 30%. Sandwich structures were impacted with LVI (5.89, 10.92, and 15.18 m/s), with the impactor dropped from heights of 0.5, 1, and 1.5 m with precompressed spring loads. FGSC samples are considered a deformable body, and the impactor is modeled as a rigid body using commercially accessible dynamic explicit software. The burn‐out test and weight method were used to test the core's gradience; both methods' results substantially matched, and the variance in gradation could be observed. The proposed sandwich structure characteristics are examined by energy absorption, peak force, energy loss percentage, and coefficient of restitution. Results showed that SC30S provides greater energy absorption and superior damage resistance when tested on LVI. To evaluate the accuracy of experimental findings in predicting the indentation behavior of the sandwich structure, the finite element analysis was used to compare with the experimental results. According to the examination of these proposed FGSC overall performance, they could potentially be employed as sacrificial materials for LVI applications like claddings to shield major structural components. The systematic approach used in this work serves as a standard for choosing and using FGSC effectively for LVI applications.Highlights Low‐velocity impact behavior of sandwich structures was investigated. Combining flexible skin and epoxy core enhances energy absorption. Based on impact energy levels, impact damage areas were determined. Examined sandwich structure advantages in structural and aerospace uses. In terms of time and cost, the numerical analysis method would be useful.

SBAS-InSAR Based Deformation Monitoring of Tailings Dam: The Case Study of the Dexing Copper Mine No.4 Tailings Dam.

The No.4 tailings pond of the Dexing Copper Mine is the second largest in Asia. The tailing pond is a dangerous source of man-made debris flow with high potential energy. In view of the lack of effective and low-cost global safety monitoring means in this region, in this paper, the time-series InSAR technology is innovatively introduced to monitor the deformation of tailings dam and significant key findings are obtained. First, the surface deformation information of the tailings pond and its surrounding areas was extracted by using SBAS-InSAR technology and Sentinel-1A data. Second, the cause of deformation is explored by analyzing the deformation rate, deformation accumulation, and three typical deformation rate profiles of the representative observation points on the dam body. Finally, the power function model is used to predict the typical deformation observation points. The results of this paper indicated that: (1) the surface deformation of the tailings dam can be categorized into two directions: the upper portion of the dam moving away from the satellite along the Line of Sight (LOS) at a rate of -40 mm/yr, whereas the bottom portion approaching the satellite along the LOS at a rate of 8 mm/yr; (2) the deformation of the dam body is mainly affected by the inventory deposits and the construction materials of the dam body; (3) according to the current trend, deformation of two typical observation points in the LOS direction will reach the cumulative deformation of 80 mm and -360 mm respectively. The research results can provide data support for safety management of No.4 tailings dam in the Dexing Copper Mine, and provide a method reference for monitoring other similar tailings dams.

A neural network finite element method for contact mechanics

Computational biomechanical models of organ systems utilizing the finite element (FE) method have been extensively applied to the study of normal and pathophysiological function. While a robust method and providing for many unique pathophysiological insights, traditional FE methods remain prohibitively slow for real-time many-query clinical applications. To meet these demanding computational requirements, we have developed a general neural network finite element (NNFE) approach for hyperelastic soft tissue organ simulations that can produce equivalent accuracy within clinically relevant time frames. However, many organ systems involve contact between structural elements (e.g. heart valve leaflets), which has not been previously addressed in the NNFE and related approaches. In the present work, we developed a NNFE-based method for contact between elastic deformable bodies. We exploited the fact that stable equilibrium solutions in nonlinear hyperelasticity minimize the potential energy to train the neural network, with contact incorporated through an potential energy penalty. This penalty was discretized and computationally implemented in JAX (Google, Inc.) in a way that could be statically allocated and jit compiled for rapid computation on modern GPU hardware. Following our previous NNFE formulation, we represented the problem domain geometry and enforced the necessary boundary conditions using a Non-Uniform Rational B-Splines (NURBS) based geometry scheme. NURBS were chosen for their ability to smoothly represent body and surface geometries. To demonstrate the method, we developed and verified two basic contact problems using a hyperelastic material model: indentation and flap. Both problems were simulated with a fully connected neural network with a parallel linear layer. Training continued until the gradient of the energy with respect to network parameters dropped below 10−2, taking less than six hours in each case studied. Once trained, the NNFE approach was capable of accurately predicting the equilibrium configurations of representative contact problems. Moreover, the NNFE contact approach required nearly six order of magnitude less time to evaluate than an equivalent FEniCSx implementation that utilized a similar mesh of cubic order Lagrange elements (0.01 s compared to 1715 seconds, respectively). Moreover, the solutions were trained over full ranges of loading and were thus able to faithfully represent families of solutions without requiring retraining. While addressing basic problems in contact, this study serves as crucial stepping stone to generate NNFE organ simulations for rapid prediction of patient specific solutions that involve contact.

Experimental investigation and modeling of boundary influences on in‐plane seismic performance of partition walls

AbstractThe in‐plane seismic performance of cold‐formed steel‐framed gypsum partition walls (hereinafter referred to as partition walls) varies with boundaries provided by surrounding members, causing differences in repair time. The studies that explicitly consider the influence of boundary members are limited and remain at the preliminary stage of qualitative analysis. Most existing numerical models used for partition walls also lack the simulation of boundaries. Our study focuses on the influence of vertical boundaries on the seismic performance of partition walls. The damage locations of partition walls with different vertical boundaries were recorded during quasi‐static tests, and the repair time was evaluated. Data collected by potentiometers and an image‐based displacement measurement system quantifies the influence of boundaries on the rigid body motion and deformation in a mechanism. A numerical model incorporating boundaries based on the damage and mechanism was proposed and validated to predict the repair time. The presented results provide a potential solution for improved detailing with consideration on repair.

Detection And Management of Lower Body Deformity And Ulceration Extremity In People With A Lived Experience of Diabetes

Background: Diabetes is a silent killer, wherein prolonged poor glucose control could lead to acute diabetic ulcers that are responsible for foot ulcers in the lower body extremities. A diabetic foot is a skin sore formed as a result of skin tissue breaking down and exposing the tissue layers underneath. Chronic conditions of the disease lead to amputation of the limb which is a lifelong disability as well as morbidity. Objective: We have compiled an interesting and informative review on diabetic foot ulceration. Topics and subtopics discussed in the article have scientific relevance for the readers of health management journals. Main Outcome and Results: The cascade of events that lead to ulceration is responsible for degrading vascular changes in nerve fibers, resulting in poor motor neuropathy in the lower extremities. Therefore, detection of diabetic foot and ulceration in the early stage is crucial for proper disease management. Various tools in this regard have been used to detect and monitor diabetic foot occurrence apart from a conventional assessment such as the severity of the infection, infection of the skin, extent or size of the ulcer, depth of tissue infection, and loss of sensation from various parts of the lower body. Furthermore, recent advancement in medical technology has also given some critical diagnostic tools EMG (Electromyography), NCV (Nerve Conduction Velocity), PPG (Photoplethysmography), and SSEP (Somatosensory Evoked Potential). Conclusion: The review discusses various complications related to people with a lived experience of diabetic foot ulcers and some advanced tools to diagnose them. Furthermore, a conclusive discussion on a holistic view of diabetic foot diagnosis methods and available treatments has been summarized which could be more explored for better detection/management of the disease.

Experimental study on the mechanical properties of longitudinal joints of shield tunnels under large deformation conditions

Known to be the weakest part of the shield tunnel lining rings, the longitudinal joints render the lining rings prone to large deformation and related diverse defects under nonuniform pressure loading, thereby seriously compromising the safety, serviceability and durability of the tunnel structure. In light of the paucity of studies regarding the performance of joints under large deformation, this paper presents a series of experiments examining the damage mechanism of longitudinal joints under large deformation and investigating the effects of the bolt strength, initial joint configuration, and loading level on the mechanical properties of longitudinal joints. Moreover, a finite element model was developed for the joint, capable of simulating large deformation and bolt yielding. Results show that the specimen’s failure is characterized by concrete cracking and spalling at the compression side of the joint, and/or the thread stripping or fracture failure of the bolts. Besides, an increase in bolt strength can increase the bending capacity of the joint. The discontinuous joint configuration determines the compression height of the joint section cannot be continuously changed, which results in an abrupt change in structural stiffness and a four-stage change in bolt strain. Changes in the loading level not only affect the joint’s bending capacity to some extent, but also alter how cracks develop near the joint. Furthermore, the relationship between the joint opening angle and the segmental rotation angle proves the rigid body deformation characteristics of the segment before the bolts yielded. With the segmental rotation angle increased, the maximum joint opening width and mid-span deflection increased linearly, but the compression height decreased meantime. In addition, the relationship between the bolt strain and the segmental rotation angle exhibited a two-stage linearity after the bolt began to be stressed.

Method of solution composition in contact problems with friction of deformable bodies

A new iterative method for solving static contact problems of two deformable bodies is proposed. The method is based on alternately solving the unilateral contact problem for the first body and the linear elasticity problem with natural boundary conditions for the second body. Fulfillment of Coulomb's friction law involves correction of tangential nodal forces in the sliding area and setting kinematic boundary conditions in the sticking area for the contact boundary of the first body. The goal of solving the linear elasticity problem for the second body is to gradually equalize contact loads on the interacting surfaces. The advantages of the method are demonstrated by solving a number of model examples, including unilateral contact of a linear-elastic plate with a solid foundation, bilateral contact of pressing a deformable block into the foundation, the Hertz problem of contact of two deformable cylinders etc. The method can solve problems on flat and curvilinear contact boundaries.

Simple additive weighting – a recommended seeds selections system for nile tilapia fish farmer

Nile tilapias are known to be an economically important farmed fish in Indonesia. Due to its adaptability, this tilapia fish can thrive in various aquatic conditions, making them an important commercial fish to produce locally or export internationally. Because of this potential, this study aims to provide recommendations using the decision support system to facilitate fish farmer decision-making with the Simple Additive Weighting model. This approach is expected to provide recommendations to fish farmers, or the general public interested in having their own Nile tilapia brood stock. The fish in this research was selected randomly following six criteria, namely fish weight, length, movement, fin or body deformation, fish colour and fish stomach condition. The result-based decision making model in this study provides an accuracy of 86.6%.

PLASTIC DEFORMATION WITH OPEN STITCHING. FORMULATION OF THE PROBLEM

A new method for the analytical solution of complex variational problems in the mechanics of a deformable solid body is proposed. Its effectiveness will be demonstrated in a series of articles on firmware. The first article systematizes the regularities of this process and performs a theoretical analysis of the billet upsetting stage.

DEFORMATION FEATURES OF EMBEDDED MATERIALS UNDER COMPRESSION CONDITIONS

Purpose. The purpose of the article is t o study the deformation characteristics of the backfill materials made of crushed rock of different granulometric composition under compression conditions to assess the stability of the side rocks in a coal massif with preparatory workings when selecting the parameters of protective structures. Methods. Compression tests were carried out in the laboratory to model the behaviour of crushed rock fill materials under load. Cylindrical specimens were subjected to axial static compression without the possibility of lateral expansion. The results. It has been experimentally established that the maximum value of the compaction coefficient of the crushed rock kс=1.57 is achieved under conditions of compression, when the relative change in the volume of the source material is 35-36% and the relative void is 5-6%. Under such conditions, the ultimate compressibility of the deformable body is achieved at its relative deformation λ = 0.36 and the presence of particles of different sizes (diameters) in the total volume of the rock layer (before compression). At the minimum value of the compaction coefficient kс=1.14, which corresponds to the small fraction of the crushed rock, the relative change of the void is 1.5%. For a large fraction of crushed rock at kс=1.43, the relative change in voids is 6.2%. This situation is associated with the destruction of rock particles and the reduction of voids between them. Compliance with certain requirements for backfill materials made of crushed rock, taking into account its particle size distribution, increases the efficiency of using the backfill of the excavated space. It is advisable to evaluate the bearing capacity of backfill materials by the value of the compaction coefficient of crushed rock. Scientific novelty. A functional relationship between the change in the specific potential strain energy and the relative deformation of the rock layer has been established, which allows us to estimate the degree of compaction of crushed rock under compression. Practical significance. To ensure maximum compaction of the crushed rock when using partial or complete backfilling of the worked-out space used for the protection of mine workings, it is advisable to use a heterogeneous (in terms of particle size) source material. Keywords: crushed rock, backfill material, stiffness, particle size distribution, compaction, deformation, compression.

Analysis of structures with arbitrary kinematic boundary conditions by the semi-analytical finite element method

The successful application of FEM to the analysis of structures is largely due to the efficiency of the use of modern software packages, in connection with which the role of program systems that implement the solution process increases. The correct organization of the computing complex, the choice of optimal algorithms for solving systems of linear and nonlinear equations largely determine the possibilities of the method in terms of the structural complexity of the objects under consideration, the accuracy of the results obtained, and the complexity of setting nonlinear problems. Therefore, there is an increased interest in the development of fairly universal computing complexes based on FEM. One of the effective software complexes is the "Strength" system, designed to conduct comprehensive research in the field of mechanics of a deformable solid, the basic principles of construction of which are used in this work in the implementation of a semi-analytical version of the FEM.
 In this work, solutions of a significant number of control problems of deformation of massive and thin-walled prismatic bodies under different boundary conditions and loads are obtained. In the process of solving new problems, the estimation of the convergence of results was carried out on the basis of a sequential increase in finite elements and contained terms of decomposition, an increase in the accuracy of systems of linear and nonlinear equations, and the accuracy of satisfaction with natural boundary conditions was checked. The developed effective method for solving new complex problems of deformation of prismatic bodies is implemented in the form of complex programs and can be used in design and construction practice in construction, mechanical engineering and other fields of technology.

Finite Element Analysis of Combined Energy Piles with Long and Short Heat Exchanger Tubes

To improve the heat exchange effect of energy piles in coastal areas, a new energy pile with a combination of long and short heat exchanger tubes is proposed. This technology combines the characteristics of implanted pile construction and arranges heat exchanger tubes of different lengths inside and outside the precast pipe pile, which can make full use of the geological conditions in coastal areas. Finite element analysis was applied for a project in a deep, soft soil ground to study the effectiveness of the new combined energy pile technology. The influences of the combined heat exchanger tubes and groundwater seepage conditions on the heat transfer and stress state of the energy pile were analyzed. The results show that the deformation and internal force of the pile body are closely related to temperature change. The temperature change is determined by heat transfer, which is closely related to the arrangement of heat exchanger tubes and underground water flow. With the increase of groundwater seepage velocity, the heat taken away by the heat exchanger tubes gradually increases; thus, the heat exchange between the heat exchanger tubes and the pile body decreases. The inner heat exchanger tube of the pile leads to an increase in heat exchange. However, as the length of the inner heat exchanger tube increases from 40 m to 80 m, the heat exchange decreases. The research results provide technical support for further development of the new energy pile technology.

The role of thermal fluctuations in the motion of a free body

The motion of a rigid body is described in Classical Mechanics with the venerable Euler’s equations which are based on the assumption that the relative distances among the constituent particles are fixed in time. Real bodies, however, cannot satisfy this property, as a consequence of thermal fluctuations. We generalize Euler’s equations for a free body in order to describe dissipative and thermal fluctuation effects in a thermodynamically consistent way. The origin of these effects is internal, i.e. not due to an external thermal bath. The stochastic differential equations governing the orientation and central moments of the body are derived from first principles through the theory of coarse-graining. Within this theory, Euler’s equations emerge as the reversible part of the dynamics. For the irreversible part, we identify two distinct dissipative mechanisms; one associated with diffusion of the orientation, whose origin lies in the difference between the spin velocity and the angular velocity, and one associated with the damping of dilations, i.e. inelasticity. We show that a deformable body with zero angular momentum will explore uniformly, through thermal fluctuations, all possible orientations. When the body spins, the equations describe the evolution towards the alignment of the body’s major principal axis with the angular momentum vector. In this alignment process, the body increases its temperature. We demonstrate that the origin of the alignment process is not inelasticity but rather orientational diffusion. The theory also predicts the equilibrium shape of a spinning body.

Addressing discontinuous root-finding for subsequent differentiability in machine learning, inverse problems, and control

There are many physical processes that have inherent discontinuities in their mathematical formulations. This paper is motivated by the specific case of collisions between two rigid or deformable bodies and the intrinsic nature of that discontinuity. The impulse response to a collision is discontinuous with the lack of any response when no collision occurs, which causes difficulties for numerical approaches that require differentiability which are typical in machine learning, inverse problems, and control. We theoretically and numerically demonstrate that the derivative of the collision time with respect to the parameters becomes infinite as one approaches the barrier separating colliding from not colliding, and use lifting to complexify the solution space so that solutions on the other side of the barrier are directly attainable as precise values. Subsequently, we mollify the barrier posed by the unbounded derivatives, so that one can tunnel back and forth in a smooth and reliable fashion facilitating the use of standard numerical approaches. Moreover, we illustrate that standard approaches fail in numerous ways mostly due to a lack of understanding of the mathematical nature of the problem (e.g. typical backpropagation utilizes many rules of differentiation, but ignores L'Hopital's rule).

Micromechanical Modeling for Predicting Residual Stress–Strain State around Nodules in Ductile Cast Irons

In this paper, a micromechanical model was developed to predict the residual stress–strain state that is generated around nodules of a ferritic ductile cast iron during solidification. A finite element analysis was performed on a reference volume element of the material to analyze the local strain development, having modeled both matrix and nodule as deformable bodies in contact. The behavior of the nodule was assumed linear–elastic because of the low stresses to which it is subjected during cooling. On the other hand, elasto-plastic viscous behavior was considered for the matrix, considering both the primary and secondary creep regimes. To make up for the lack of information on the physical–thermomechanical properties of the constituents, the available literature data were integrated with the results obtained from the CALPHAD methodology applied to both cast iron and the steel that constitutes its matrix. The micromechanical model was validated by comparing the resulting residual strains with experimental data available in the literature for a ferritic ductile cast iron. Then, it was used for analyzing the correlation between the solidification history and the mechanical response of cast iron in terms of the uniaxial stress–strain curve.

Analysis of Efficiency Characteristics of a Deep-Sea Hydraulic Power Source

Deep-sea submersibles carry limited energy sources, so a high efficiency of the equipment is required to improve endurance. In the deep-sea environment, the hydraulic power source is filled with oil, which causes structural deformation of the power source and changes in the physical properties of the medium, leading to unknown changes in the efficiency characteristics of the power source. In order to explore the efficiency characteristics of the deep-sea hydraulic power source composed of a gear pump and a DC (direct current) brushless motor in a variable sea depth environment, we undertook the following. First, considering the effects of seawater pressure and temperature on the physical properties of the medium and the radial clearance deformation of the gear pump, a mathematical model for the total efficiency of the hydraulic power source was established. The results indicate that the deformation of the pump body is mainly determined by the seawater pressure and working pressure. Subsequently, by analyzing the effects of the two factors on the efficiency of the power source, respectively, when the oil temperature range is large enough, the total efficiency of the power source will increase and then decrease under six sea depths; the total efficiency of the power source decreases with the increase in the rotational speed. However, in a land environment, the trend of the efficiency characteristics of the power source is opposite to that of the remaining six deep-sea environments, both in terms of oil temperature and rotational speed. Finally, the efficiency trend of the power source with changes in sea depth under rated conditions was obtained. Under different sea depth ranges, the optimal operating oil temperatures and suitable rotational speed ranges of the power source could be obtained. This paper could provide a certain theoretical basis for the research and development of deep-sea equipment.

Fabrication of Origami Soft Gripper Using On-Fabric 3D Printing

In this work, we have presented a soft encapsulating gripper for gentle grasps. This was enabled by a series of soft origami patterns, such as the Yoshimura pattern, which was directly printed on fabric. The proposed gripper features a deformable body that enables safe interaction with its surroundings, gentle grasps of delicate and fragile objects, and encapsulated structures allowing for noninvasive enclosing. The gripper was fabricated by a direct 3D printing of soft materials on fabric. This allowed for the stiffness adjustment of gripper components and a simple fabrication process. We evaluated the grasping performance of the proposed gripper with several delicate and ultra-gentle objects. It was concluded that the proposed gripper could manipulate delicate objects from fruits to silicone jellyfishes and, therefore, have considerable potential for use as improved soft encapsulating grippers in agriculture and engineering fields.