Desktop Cartesian-Type Robot with Abilities of Compliant Motion and Stick-Slip Motion

In manufacturing process of small lens molds, 3D CAD/CAM systems and high precision NC (numerically controlled) machining centers are used generally, and these advanced systems have drastically rationalized the design and manufacturing process. For example, recently, an ultra precision multi-axis control machining system has been developed for spherical micro-lens array molds. As a result, the mold with a spherical micro lens array has been effectively shaped with high accuracy (Oba et al., 2008). In case of an LED lens mold as shown in Fig. 1, however, the finishing process after the machining process has been hardly automated yet, because the LED lens mold has plural small concave areas to be finished, in which each diameter is 4 mm.