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Journal Articles

A Complete Geometric Singular Characterization of the 6/6 Stewart Platform

Michael Slavutin, Avshalom Sheffer, Offer Shai, Yoram Reich
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041011.
Paper No: JMR-17-1414
https://doi.org/10.1115/1.4040133
Published Online: June 1, 2018
View Article titled, A Complete Geometric Singular Characterization of the 6/6 Stewart Platform
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Topics: Mechanical admittance, Robots, Screws, Theorems (Mathematics), Statics, Design, Kinematics
Proceedings Papers

The Unique Engineering Properties of Assur Groups/Graphs, Assur Kinematic Chains, Baranov Trusses and Parallel Robots

Elad Hahn, Offer Shai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A074, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59135
https://doi.org/10.1115/DETC2016-59135
View Paper titled, The Unique Engineering Properties of Assur Groups/Graphs, Assur Kinematic Chains, Baranov Trusses and Parallel Robots
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Topics: Kinematic chains, Robots, Kinematics, Machinery, Statics
Proceedings Papers

A Single Universal Construction Rule for the Structural Synthesis of Mechanisms

Elad Hahn, Offer Shai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A084, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59133
https://doi.org/10.1115/DETC2016-59133
View Paper titled, A Single Universal Construction Rule for the Structural Synthesis of Mechanisms
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Topics: Construction, Stiffness, Blocks (Building materials)
Proceedings Papers

A Geometric Singular Characterization of the 6/6 Stewart Platform

Michael Slavutin, Avshalom Sheffer, Offer Shai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A088, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59613
https://doi.org/10.1115/DETC2016-59613
View Paper titled, A Geometric Singular Characterization of the 6/6 Stewart Platform
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Topics: Mechanical admittance, Robots, Theorems (Mathematics)
Proceedings Papers

Construction of Baranov Trusses Using a Single Universal Construction Rule

Elad Hahn, Offer Shai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A032, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59134
https://doi.org/10.1115/DETC2016-59134
View Paper titled, Construction of Baranov Trusses Using a Single Universal Construction Rule
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Topics: Construction, Linkages, Kinematics, Stiffness
Proceedings Papers

Combinatorial Method for Characterizing Singular Configurations in Parallel Mechanisms

Avshalom Sheffer, Offer Shai
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A038, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46755
https://doi.org/10.1115/DETC2015-46755
View Paper titled, Combinatorial Method for Characterizing Singular Configurations in Parallel Mechanisms
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Topics: Parallel mechanisms, Algebra, Geometry, Robots, Screws, Stress, Theorems (Mathematics)
Proceedings Papers

Combinatorial Method for Checking Stability in Tensegrity Structures

Daniel Cahan, Offer Shai
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A057, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47143
https://doi.org/10.1115/DETC2015-47143
View Paper titled, Combinatorial Method for Checking Stability in Tensegrity Structures
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Topics: Stability, Tensegrity structures, Cables, Scalars, Tensegrity
Proceedings Papers

The Duality Between the Singularity of Bricard Mechanism and the Singularity of Stewart Platform

Michael Slavutin, Offer Shai, Andreas Müller
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A057, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34638
https://doi.org/10.1115/DETC2014-34638
View Paper titled, The Duality Between the Singularity of Bricard Mechanism and the Singularity of Stewart Platform
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Topics: Chain, Geometry, Manipulators, Mechanical admittance, Parallel mechanisms, Screws, Topology
Proceedings Papers

A Unified Concept for the Graph Representation of Constraints in Mechanisms

Andreas Müller, Offer Shai
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A059, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34713
https://doi.org/10.1115/DETC2014-34713
View Paper titled, A Unified Concept for the Graph Representation of Constraints in Mechanisms
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Topics: Computation, Failure, Kinematic analysis, Machinery, Mechanical admittance
Proceedings Papers

A Novel Combinatorial Algorithm for Determining the Generic/Topological Mobility of Planar and Spherical Mechanisms

Offer Shai, Andreas Müller
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A073, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13364
https://doi.org/10.1115/DETC2013-13364
View Paper titled, A Novel Combinatorial Algorithm for Determining the Generic/Topological Mobility of Planar and Spherical Mechanisms
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Topics: Algorithms, Mechanical admittance
Proceedings Papers

Mobility Determination of Mechanisms Based on Rigidity Theory

Michael Slavutin, Offer Shai, Andreas Müller
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1615-1628, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71289
https://doi.org/10.1115/DETC2012-71289
View Paper titled, Mobility Determination of Mechanisms Based on Rigidity Theory
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Topics: Mechanical admittance, Stiffness
Proceedings Papers

Applying Rigidity Theory Methods for Topological Decomposition and Synthesis of Gear Train Systems

Maria Terushkin, Offer Shai
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 605-614, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70904
https://doi.org/10.1115/DETC2012-70904
View Paper titled, Applying Rigidity Theory Methods for Topological Decomposition and Synthesis of Gear Train Systems
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Topics: Gear trains, Stiffness
Proceedings Papers

Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm

Adnan Sljoka, Offer Shai, Walter Whiteley
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 493-502, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48340
https://doi.org/10.1115/DETC2011-48340
View Paper titled, Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm
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Topics: Algorithms, Linkages, Mechanical admittance
Proceedings Papers

The Correction to Grubler Criterion for Calculating the Degrees of Freedoms of Mechanisms

Offer Shai
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 413-416, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48146
https://doi.org/10.1115/DETC2011-48146
View Paper titled, The Correction to Grubler Criterion for Calculating the Degrees of Freedoms of Mechanisms
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Topics: Mechanical admittance, Stress
Proceedings Papers

A Model of Caterpillar Locomotion Based on Assur Tensegrity Structures

Omer Orki, Offer Shai, Amir Ayali, Uri Ben-Hanan
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 739-745, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47708
https://doi.org/10.1115/DETC2011-47708
View Paper titled, A Model of Caterpillar Locomotion Based on Assur Tensegrity Structures
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Topics: Tensegrity structures, Cables, Simulation, Struts (Engineering), Control algorithms, Control equipment, Fault tolerance, Hydrostatic pressure, Muscle, Robotics
Proceedings Papers

Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion

Omer Orki, Offer Shai, Itay Tehori, Michael Slavutin, Uri Ben-Hanan
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 101-106, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28687
https://doi.org/10.1115/DETC2010-28687
View Paper titled, Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion
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Topics: Tensegrity structures, Cables, Actuators, Fault tolerance, Robots, Algorithms, Control algorithms, Motion control, Surface roughness, Tensegrity
Proceedings Papers

Topological Synthesis of All 2D Mechanisms Through Assur Graphs

Offer Shai
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1727-1738, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28926
https://doi.org/10.1115/DETC2010-28926
View Paper titled, Topological Synthesis of All 2D Mechanisms Through Assur Graphs
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Topics: Algorithms, Construction, Linkages, Stiffness, Theorems (Mathematics)
Proceedings Papers

Inventing a New Method in Statics Through Knowledge in Kinematics

Offer Shai, Yoram Reich
Proc. ASME. IDETC-CIE2009, Volume 8: 14th Design for Manufacturing and the Life Cycle Conference; 6th Symposium on International Design and Design Education; 21st International Conference on Design Theory and Methodology, Parts A and B, 1139-1145, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87548
https://doi.org/10.1115/DETC2009-87548
View Paper titled, Inventing a New Method in Statics Through Knowledge in Kinematics
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Topics: Cables, Design, Design methodology, Engineering disciplines, Inventions, Kinematics, Statics, Struts (Engineering), Tensegrity structures
Proceedings Papers

The Canonical Form of All Planar Linkage Topologies

Offer Shai
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1285-1294, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87653
https://doi.org/10.1115/DETC2009-87653
View Paper titled, The Canonical Form of All Planar Linkage Topologies
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Topics: Linkages, Theorems (Mathematics), Atoms, Kinematics, Stiffness
Proceedings Papers

Adjustable Tensegrity Robot Based on Assur Graph Principle

Offer Shai, Itay Tehori, Avner Bronfeld, Michael Slavutin, Uri Ben-Hanan
Proc. ASME. IMECE2009, Volume 10: Mechanical Systems and Control, Parts A and B, 257-261, November 13–19, 2009
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2009-11301
https://doi.org/10.1115/IMECE2009-11301
View Paper titled, Adjustable Tensegrity Robot Based on Assur Graph Principle
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Topics: Robots, Tensegrity, Control systems, Topology, Trusses (Building), Algorithms, Cables, Theorems (Mathematics), Actuators, Degrees of freedom