|Various robots have been researching for many years. Because of the Square-cube law, we are not able to build gigantic robot with ordinary robot structure. We found that Tensegric structure is suitable for building a robot over 10m height. In the previous researches, multistage Tensegric robot arm is presented and its control algorithm is shown. However, trajectory shaping method for multistage Tensegric robot arm is not obvious. This paper presents an idea to achieve trajectory shaping for the multistage Tensegric structure arm, which is taking account of stress dispersion. Computer simulation is carried out, and the property of the trajectory shaping procedure is discussed.