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Moshe Shoham
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Journal Articles

Dual Quaternions Representation of Lagrange's Dynamic Equations

Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041004.
Paper No: JMR-22-1244
https://doi.org/10.1115/1.4062463
Published Online: June 5, 2023
View Article titled, Dual Quaternions Representation of Lagrange's Dynamic Equations
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Topics: Energy dissipation, Equations of motion, Manipulators, Robots, Damping, Dynamics (Mechanics)
Proceedings Papers

Kinematic Evaluation of Robots for Assembly Tasks

Eyal Zussman, Moshe Shoham, Ehud Lenz
Proc. ASME. DETC92, 18th Design Automation Conference: Volume 2 — Geometric Modeling, Mechanisms, and Mechanical Systems Analysis, 307-314, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0180
https://doi.org/10.1115/DETC1992-0180
View Paper titled, Kinematic Evaluation of Robots for Assembly Tasks
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Topics: Kinematics, Manufacturing, Robots, Jacobian matrices, Screws, Machinery
Proceedings Papers

Construction of a Six-Degrees-of-Freedom Parallel Manipulator With Three Planarly Actuated Links

Ronen Ben-Horin, Moshe Shoham
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A046, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1561
https://doi.org/10.1115/96-DETC/MECH-1561
View Paper titled, Construction of a Six-Degrees-of-Freedom Parallel Manipulator With Three Planarly Actuated Links
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Topics: Construction, Manipulators, Robots, Design, Motors
Proceedings Papers

Explicit Algorithm for Robot Manipulator Dual Dynamics

Vladimir Brodsky, Moshe Shoham
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A095, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-4316
https://doi.org/10.1115/DETC97/DAC-4316
View Paper titled, Explicit Algorithm for Robot Manipulator Dual Dynamics
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Topics: Algorithms, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Engines, Equations of motion, Motors, Kinematics, Momentum, Dimensions
Proceedings Papers

A Parallel Six Degrees-of-Freedom Inflatable Robot

Patricia Ben-Horin (Dombiak), Moshe Shoham, Gershon Grossman
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 435-441, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14096
https://doi.org/10.1115/DETC2000/MECH-14096
View Paper titled, A Parallel Six Degrees-of-Freedom Inflatable Robot
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Topics: Degrees of freedom, Robots, Kinematics, Path planning
Journal Articles

Compliant Mechanism as a Motion-Preserving Artificial Spinal Disc: A Novel Concept

Or David, Moshe Shoham
Journal: Journal of Engineering and Science in Medical Diagnostics and Therapy
Publisher: ASME
Article Type: Design Innovation Paper
ASME J of Medical Diagnostics. August 2020, 3(3): 035001.
Paper No: JESMDT-19-1027
https://doi.org/10.1115/1.4045609
Published Online: March 6, 2020
View Article titled, Compliant Mechanism as a Motion-Preserving Artificial Spinal Disc: A Novel Concept
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Topics: Disks, Kinematics, Stress
Journal Articles

Application of Hyper-Dual Numbers to Multibody Kinematics

Avraham Cohen, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011015.
Paper No: JMR-15-1019
https://doi.org/10.1115/1.4030588
Published Online: August 18, 2015
View Article titled, Application of Hyper-Dual Numbers to Multibody Kinematics
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Topics: Kinematics, Algebra, Manipulators
Journal Articles

Bending Instability of a General Cross Section Thin-Wall Tube for Minimal Radius of Curvature Passage

Hadas Ziso, Moshe Shoham
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research-Article
J. Appl. Mech. October 2014, 81(10): 101008.
Paper No: JAM-14-1232
https://doi.org/10.1115/1.4028220
Published Online: August 27, 2014
View Article titled, Bending Instability of a General Cross Section Thin-Wall Tube for Minimal Radius of Curvature Passage
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Topics: Shapes, Stress, Thin wall structures
Proceedings Papers

Locomotion of One Degree of Freedom Worm Robots

David Zarrouk, Moshe Shoham
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 721-727, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47239
https://doi.org/10.1115/DETC2011-47239
View Paper titled, Locomotion of One Degree of Freedom Worm Robots
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Topics: Degrees of freedom, Robots, Actuators, Design, Biomedicine, Biosensors, Blood vessels, Displacement, Drugs, Energy consumption
Journal Articles

Analysis and Design of One Degree of Freedom Worm Robots for Locomotion on Rigid and Compliant Terrain

David Zarrouk, Moshe Shoham
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. February 2012, 134(2): 021010.
https://doi.org/10.1115/1.4005656
Published Online: February 3, 2012
View Article titled, Analysis and Design of One Degree of Freedom Worm Robots for Locomotion on Rigid and Compliant Terrain
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Topics: Design, Robots, Friction
Journal Articles

A Note on the Screw Triangle

David Zarrouk, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2011, 3(1): 014502.
https://doi.org/10.1115/1.4002943
Published Online: January 6, 2011
View Article titled, A Note on the Screw Triangle
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Topics: Screws
Journal Articles

Architectures of Translational Parallel Mechanism for MEMS Fabrication

Hagay Bamberger, Alon Wolf, Moshe Shoham
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. August 2008, 130(8): 084502.
https://doi.org/10.1115/1.2936933
Published Online: July 11, 2008
View Article titled, Architectures of Translational Parallel Mechanism for MEMS Fabrication
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Topics: Actuators, Architecture, Design, Jacobian matrices, Kinematics, Manufacturing, Microelectromechanical systems, Parallel mechanisms
Journal Articles

A Class of Parallel Robots Practically Free of Parallel Singularities

Patricia Ben Horin, Moshe Shoham
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2008, 130(5): 052303.
https://doi.org/10.1115/1.2885508
Published Online: March 26, 2008
View Article titled, A Class of Parallel Robots Practically Free of Parallel Singularities
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Topics: Robots, Kinematics
Journal Articles

Twisting Wire Actuator

Moshe Shoham
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Article
J. Mech. Des. May 2005, 127(3): 441–445.
https://doi.org/10.1115/1.1866156
Published Online: July 7, 2004
View Article titled, Twisting Wire Actuator
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Topics: Wire, Actuators