During The Lebanon War (1982) Israeli M-113 infantry carriers proved vulnerable to shoulder launched antitank weapons. As a stopgap, the IDF introduced a series of Centurion based Kangaroo carriers for use by infantry and combat engineers. The IDF removed the turrets from some of their obsolescent Centurion MBTs, utilizing the space to build new fighting compartments with a boxy, angular superstructure. The first Centurion conversions known as the Nagmashot appeared in the early 80s. Use of the Nagmashot soon shifted from infantry formations to the combat engineers. The reason for the change of role was that the vehicle lacked an adequate rear hatch for the fighting compartment. As a result, the six-man infantry squad normally carried had to disembark over the side of the machine hull. This had too many tactical disadvantages. Consequently the IDF introduced the T-55 based Achzarit as its primary infantry carrier for use in combined arms operations. A further decision was made to produce a specialized Centurion based carrier, known as the Puma, for the combat engineers. As the Achzarit and Puma entered into service, the Nagmashot was allocated for use as specialized carriers for use in low intensity conflicts (LIC).

The Nagmashot provided the IDF with a useful capability. Consequently the Israelis introduced improved Centurion conversion with a similar configuration. These machines are known as the Nagmachon and Nakpadon. Some were newly converted vehicles. Most were upgrades of existing Nagmashots. The Nagmachon entered into service in the late 80s and the Nakpadon in the early 90s. A handful of early Nagmachons were built upon the hull of M-48 tanks. However, they proved less able to withstand mines and improvised road side charges than the Centurion based Kangaroos.

Whilst the initial impetus behind the Nagmashot was the creation of a heavy assault carrier, the later Nagmachon and Nakpadon were from the start designed for use in counter insurgency operations. They are very similar in layout to the Nagmashot, but have fighting compartments with higher sides. As in the case of the Nagmashot, infantry have to disembark by crossing the engine decking.

When compared to the Nagmashot, the Nagmachon carries a more extensive suite of applique armour array.

The Nagmashot had been trialed with heavy reactive armour side-skirts. These were seldom seen in service. Usually standard Centurion side-skirts were used; on occasion the vehicles didn't wear any skirts. The Nagmachon on the other hand is always seen fitted with exceptionally heavy side-skirts, the front sections of which are particularly massively constructed. On the Nagmachon the rearmost pairs are made of plain steel disembarking from the rear of the fighting compartment. The vehicle also has improved protection against mines, its underbelly being reinforced.