Topological and Kinematic Singularities for a Class of Parallel Mechanisms (2009)
Nir Shvalb, Moshe Shoham, Hagay Bamberger, David Blanc
We study singularities for a parallel mechanism with a planar moving platform in ℝd (d=2,3), with joints which are universal, spherical (spatial case), or rotational (planar...
Topological and Kinematic Singularities for a Class of Parallel Mechanisms (2009)
Nir Shvalb, Moshe Shoham, Hagay Bamberger, David Blanc
We study singularities for a parallel mechanism with a planar moving platform in ℝd (d=2,3), with joints which are universal, spherical (spatial case), or rotational (planar case). For such...
Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...
Nabil Simaan, Moshe Shoham, Nabil Simaan, Moshe Shoham
In this paper, we address the stiffness synthesis problem of variable geometry double planar parallel robots. For a desired stiffness matrix, the free geometrical variables are calculated as a...
Motion Planning for a Class of Planar Closed-Chain Manipulators (2008)
Guanfeng Liu, N. Shvalb, Moshe Shoham, J. C. Trinkle
Abstract — We study the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs ” to a common point (like the thorax of an insect) and then...
In this paper, we address the stiffness synthesis problem of variable geometry double planar parallel robots. For a desired stiffness matrix, the free geometrical variables are calculated as a...
ROBOT ASSISTED REGISTRATION FOR TOTAL KNEE REPLACEMENT (2008)
Objective: Registration is a critical step, which links the planning and execution phases of most CAS applications. In this procedure the geometric relationships between the patient’s anatomy, the...
Robotic Guidance of Flexible Needle for Percutaneous Therapy (2008)
Abstract- Flexible needle insertion for percutaneous therapies is formulated in this paper as a trajectory planning problem of a linear beam, supported by virtual springs. Using this simplified...
Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...
Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...
Daniel Glozman, Moshe Shoham, Anath Fischer
Successful implementation of robot-assisted surgery (RAS) requires coherent integration of spatial image data with sensing and actuating devices, each having its own coordinate system. Hence,...
Screw theory tools for the synthesis of the geometry of a
Bone-mounted miniature robot for surgical procedures: concept and clinical applications (2003)
Moshe Shoham, Michael Burman, Eli Zehavi, Leo Joskowicz, Senior Member, Eduard Batkilin, ...
Abstract—This paper presents a new approach to robot-assisted spine and trauma surgery in which a miniature robot is directly mounted on the patient’s bony structure near the surgical site. The...
Stiffness synthesis of a variable geometry planar robot (2002)
Abstract This paper addresses the problem of task-based stiffness synthesis of a variable geometry three DOF (Degrees Of Freedom) planar robot. The synthesis considers the case where the robot has a...