抄録
A new orthogonal-type robot with compliant motion capability is presented for finishing metallic molds with small curved surface. The orthogonal-type robot consists of three single axis robots with a position resolution of lynm. A small ball-end abrasive tool is attached to the tip of z-axis of the robot. The control system of the orthogonal-type robot is composed of a force feedback loop, a position feedback loop and a position feedforward loop. The effectiveness of the orthogonal type robot is examined through an actual finishing test of a LED lens mold with a diameter of 4 mm.
