Polishing robot and polishing method using the same

摘要

A direct-teaching playback type polishing robot comprising a first arm and a second arm, a polishing tool suspended from a free end of said second arm, horizontal high-lead ball screws having nuts connected to said arms, respectively, and a servo-motor and an encoder mounted at a free end of threaded shaft of each of said ball screws in such a manner that rotation of said servo-motor advancing the corresponding nut to swing the corresponding arm independently of the other arm.