抄録
Some environmental contact tasks by a manipulator need large static force. Especially, Accurate positioning of heavy objects needs large force and accurate motion of manipulator. First, we proposed, analyzed and produeced a novel end-effector for a small manipulator to generate large force, that is for 3-D.O.F. pushing operation in 2-dimensional surface. Then, we estimated the movement of object. Simulation results show the effectiveness.
