Abstract
Some environmental contact tasks by a manipulator need large static force; such as press-fitting and inserting connector. Then, We propose and design a novel end-effector for a small manipulator to generate large force, and analyze the force generated by the end-dffector. In addition, We devise a method to increase a stroke. Finally, to move heavy objects by a position controlled manipulator, we introduce to motion planning methods with this structure in consideration of manipulator torque and compare them by total motion time.
