A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mechanics, electronics and sensors. A trefoil shaped capture system is developed for closed envelop. The worm shaft and worm wheels are adopted for the self-locking property, and they are used in a unique manner. Straight path generation of linkage is proposed in the transmission system. The multisensory system and hardware architecture provide the foundation for control strategies. The effectiveness of the end-effector is verified by simulation and the capturing tolerance is obtained.
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