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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

J. Mechanisms Robotics. August 2018, 10(4): 041011.

Paper No: JMR-17-1414

DOI: https://doi.org/10.1115/1.4040133

Published Online: June 1, 2018

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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

Paper No: DETC2016-59135

DOI: https://doi.org/10.1115/DETC2016-59135

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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

Paper No: DETC2016-59133

DOI: https://doi.org/10.1115/DETC2016-59133

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Topics: Construction, Stiffness, Blocks (Building materials)

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

Paper No: DETC2016-59134

DOI: https://doi.org/10.1115/DETC2016-59134

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Topics: Construction, Linkages, Kinematics, Stiffness

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

Paper No: DETC2016-59613

DOI: https://doi.org/10.1115/DETC2016-59613

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Topics: Mechanical admittance, Robots, 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

Paper No: DETC2015-47143

DOI: https://doi.org/10.1115/DETC2015-47143

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Topics: Stability, Tensegrity structures, Cables, Scalars, Tensegrity

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

Paper No: DETC2015-46755

DOI: https://doi.org/10.1115/DETC2015-46755

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Topics: Parallel mechanisms, Algebra, Geometry, Robots, Screws, Stress, Theorems (Mathematics)

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

Paper No: DETC2014-34638

DOI: https://doi.org/10.1115/DETC2014-34638

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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

Paper No: DETC2014-34713

DOI: https://doi.org/10.1115/DETC2014-34713

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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

Paper No: DETC2013-13364

DOI: https://doi.org/10.1115/DETC2013-13364

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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

Paper No: DETC2012-71289

DOI: https://doi.org/10.1115/DETC2012-71289

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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

Paper No: DETC2012-70904

DOI: https://doi.org/10.1115/DETC2012-70904

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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

Paper No: DETC2011-48340

DOI: https://doi.org/10.1115/DETC2011-48340

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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

Paper No: DETC2011-48146

DOI: https://doi.org/10.1115/DETC2011-48146

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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

Paper No: DETC2011-47708

DOI: https://doi.org/10.1115/DETC2011-47708

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Topics: Tensegrity structures, Cables, Simulation, Struts (Engineering), Control algorithms, Control equipment, Fault tolerance, Hydrostatic pressure, Muscle, Robotics

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

Paper No: DETC2010-28926

DOI: https://doi.org/10.1115/DETC2010-28926

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Topics: Algorithms, Construction, Linkages, Stiffness, Theorems (Mathematics)

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

Paper No: DETC2010-28687

DOI: https://doi.org/10.1115/DETC2010-28687

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Topics: Tensegrity structures, Cables, Actuators, Fault tolerance, Robots, Algorithms, Control algorithms, Motion control, Surface roughness, Tensegrity

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

Paper No: DETC2009-87548

DOI: https://doi.org/10.1115/DETC2009-87548

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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

Paper No: DETC2009-87653

DOI: https://doi.org/10.1115/DETC2009-87653

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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

Paper No: IMECE2009-11301

DOI: https://doi.org/10.1115/IMECE2009-11301

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Topics: Robots, Tensegrity, Control systems, Topology, Trusses (Building), Algorithms, Cables, Theorems (Mathematics), Actuators, Degrees of freedom

Journal citation

NARROW

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

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

A Single Universal Construction Rule for the Structural Synthesis of Mechanisms

Construction of Baranov Trusses Using a Single Universal Construction Rule

A Geometric Singular Characterization of the 6/6 Stewart Platform

Combinatorial Method for Checking Stability in Tensegrity Structures

Combinatorial Method for Characterizing Singular Configurations in Parallel Mechanisms

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

A Unified Concept for the Graph Representation of Constraints in Mechanisms

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

Mobility Determination of Mechanisms Based on Rigidity Theory

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

Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm

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

A Model of Caterpillar Locomotion Based on Assur Tensegrity Structures

Topological Synthesis of All 2D Mechanisms Through Assur Graphs

Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion

Inventing a New Method in Statics Through Knowledge in Kinematics

The Canonical Form of All Planar Linkage Topologies

Adjustable Tensegrity Robot Based on Assur Graph Principle

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