Sensors and Actuators A 279 (2018) 518–524

Contents lists available at ScienceDirect

Sensors and Actuators A: Physical

journal homepage: www.elsevier.com/locate/sna

Miniature mechanical safety and arming device with runaway

escapement arming delay mechanism for artillery fuze
Ji-hun Jeong a , Junseong Eom a , Seung S. Lee a,∗ , Dong Wan Lim b , Yong Ik Jang b ,
Kyoung Woong Seo b , Seong Soo Choi b , Chun Jae Lee c , Jong Soo Oh d
a
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, 34141, Republic of Korea
b
Hanwha Corporation, Gumi, 39370, Republic of Korea
c
Defense Acquisition Program Administration, Gwacheon, 13809, Republic of Korea
d
Agency for Defense Development, Daejeon, 34188, Republic of Korea

a r t i c l e i n f o a b s t r a c t

Article history: In this research, a miniature mechanical SAD (Safety and Arming Device) with arming delay was devel-
Received 7 November 2017 oped for actual munitions application. Reliable arming delay performance was achieved by applying a
Received in revised form 29 April 2018 runaway escapement system that operates by a rack-and-pinion motion. The miniature mechanical SAD
Accepted 26 May 2018
was fabricated using a stainless steel wet etching process that provided not only miniaturization but
Available online 28 May 2018
also a high processing yield. The miniature mechanical SAD performed successfully under the desired
safety and arming conditions in lab tests and showed fine agreement with the finite element method
Keywords:
simulation results. Field tests were performed with a grenade launcher to validate its performance under
Artillery fuze
Mechanical safety and arming device
the actual firing conditions. One hundred samples that were shot 23.6 m (safety distance) and 200 m
Arming delay (arming distance), and every specific test criterion was met successfully. The new SAD was also found
Stainless steel wet etching to be appropriate for safe use in artillery fuzes by conducting environmental tests under a variety of
temperature, vibration, and impact conditions.
© 2018 Elsevier B.V. All rights reserved.

1. Introduction
Artillery munition is an indispensable weapon for modern war-
fare. Smart artillery munitions provide extended range and the
ability to achieve high precision strikes, which are the main issues in
modern defense technology. Using data from GPS (Global Position-
ing System) and INS (Inertial Navigation System), the munitions
can strike targets selectively without unintended casualties [1–5].
A fuze is a device with explosive components that handles
safety, arming, and firing functions of munitions [6–8]. To develop
smart artillery munitions cost effectively, it is preferred that a new
fuze be developed without changing the structure of conventional
munitions. A course correction fuze is the most appropriate artillery
fuze for minimizing the cost of developing smart artillery munitions
[4]. Munitions with reduced impact dispersion can be achieved by
replacing the existing fuze with a course correction fuze like the
PGK (Precision Guidance Kit, USA) [4,5]. The precision strike perfor-
mance of the course correction fuze is made possible by the canards
and electronic devices that have been fitted into the conventional
∗ Corresponding author.
E-mail address: slee97@kaist.ac.kr (S.S. Lee).
fuze structure. It was necessary that the existing fuze components
be minimized and made cheaper to enable construction of the
course correction fuze.
The SAD (Safety and Arming Device) is an essential component
that prevents fuze arming until acceptable conditions have been
achieved [6–9]. As shown in Fig. 1(a), the SAD is always kept in the
safe position by being kept in out of line alignment with the explo-
sive train, which is composed of detonator, transfer charge, output
charge, and high explosives. When the acceptable conditions have
been met, the SAD should be shifted to the armed position by
arranging its alignment to be in-line with the explosive train
(Fig. 1(b)).
Fig. 2 demonstrates the firing environments of artillery
munitions. At the moment of firing, setback acceleration of
1000–20,000 G (1 G = 9.81 m/s2 ) is applied inside the munition,
which acts as the first arming condition of the SAD. When the
munition fires, a spin condition of 2000–20,000 rpm (the second
arming condition of the SAD) is generated by the rifling of the
artillery barrel to gyroscopically stabilize the munition. The SAD
aligns the explosive train only when these two arming conditions
are independently applied.
Miniaturizations of the SAD have mostly been realized using
MEMS technology [8,10–19]. Fig. 3(a) shows the mass spring type

https://doi.org/10.1016/j.sna.2018.05.040
0924-4247/© 2018 Elsevier B.V. All rights reserved.
 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524
Fig. 1. Concept of SAD [8].
Fig. 2. Firing environments of artillery munition.
Fig. 3. Schematic views of two principles of miniature SADs [8,12].
miniature SAD by ARDEC (Army Armament Research, Develop-
ment and Engineering, USA), which was fabricated by LIGA or UV
LIGA process [10–12]. Although such mass spring structures have
been applied in many miniature SADs, the high aspect ratio of the
mass spring structures have been found vulnerable in high impact
environments [17,18]. Fig. 3(b) shows the ball driven type minia-
ture SAD [8,18]. Despite lack of arming delay performance, the
ball driven type miniature SAD resisted in high impact condition
(∼20,000 G).
The SAD should be fully armed after the arming delay to obtain
the minimum distance for safety. The arming delay which is the
time elapsed, or distance traveled by the munition, from firing
to arming can be operated using electrical or mechanical meth-
ods [6]. For most miniature SADs, electrical and electro-thermal
actuators were used for the arming delay [10–16]. However, elec-
trical activities may increase the potential for fuze malfunctions
by interference from external electromagnetic signals. Although
mechanical methods such as the zig-zag slot based arming delay
also exist, they seem to have lack amount of delay for large caliber
munitions [20].
519
Fig. 4. Components of the miniature mechanical SAD.
In this paper, a miniature SAD with a runaway escapement
arming delay mechanism was proposed to fulfill arming delay
requirements for the munition firing. Runaway escapement sys-
tems, which are mostly applied in conventional mechanical SADs
has reliable delay performance in various external environments
[21]. Although the runaway escapement system can be a barrier
to miniaturization, this weakness has been avoided by using a
stainless steel wet etching process [22,23]. Stainless steel wet etch-
ing has the benefits of not only allowing miniaturization, but also
enabling effective mass production due to its simple and batch
process characteristics. The safety and arming performance of the
fabricated SAD was found to be successful in the lab tests (spin
and inertia tests) and the results showed fine agreement with the
finite element method (FEM) simulation results. The SAD has also
showed reliable performance in the field test (40 mm grenade firing
test). Additional tests were conducted to check the safety perfor-
mance under various environmental conditions (impact, vibration,
temperature).
2. Design and fabrication
2.1. Working principle
Fig. 4(a) shows the components of the proposed miniature
mechanical SAD. The proposed SAD consists of a stainless steel
frame, slider, spin mass, inertia mass, driving mass, rack, and the
components of the runaway escapement system (gear, star wheel,
and pallet). Fig. 4(b) shows the stainless steel frame with inertia
lock and spin lock, which hold the rack to keep SAD in safe position.
The working principle of the proposed SAD is represented in
Fig. 5. The proposed SAD was designed to block alignment of the
explosives train until the munition fires (Fig. 5(a)). At the moment of
munition firing, the setback force acts on the inertia mass to deflect
the inertia lock downward (in the direction opposite to the firing)
and releases the rack. While the inertia lock deflects, the inertia
mass moves down and escape from guide hole of upper housing.
The inertia mass eventually gets jammed into the upper housing
due to its round bottom shape and prevents the inertia lock from
returning to its safe position. However, the rack is still constrained
by the spin lock. The centrifugal force that increases after firing
makes the spin mass move the spin lock outward from the center
of the spin and releases the rack. Because the rack is moved by
the centrifugal force, the runaway escapement system is oper-
ated by the rack and pinion motion. The arming delay of the SAD
is induced by the oscillation of the pallet, which is the last compo-
nent of torque transfer. In the final state of the arming delay, the
rack drags the slider and opens the fire line (align the explosive
train), which is shown in Fig. 5(b).
520 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524
Fig. 5. Working principle of the proposed SAD.
Fig. 6. FEM simulation result of the inertia lock.
2.2. Simulation
The FEM simulations (Software: ANSYS 16.1). of the inertia lock
and the spin lock have been conducted to verify the deflection
behavior under safety and arming condition. Mechanical proper-
ties of stainless steel (STS304) were used for the simulation of the
locks.
Fig. 6(a) and (b) indicate the deflection behavior of the inertia
lock under the safety (800 G) and arming (1300 G) condition respec-
tively. According to the simulation, the tip of the inertia lock moves
0.42 mm in the (-) z-direction under 800 G condition. The inertia
lock releases the rack
when the displacement of the tip exceeds 0.55 mm (Table 1).
Therefore, the inertia lock was considered to be holding the rack
under the safety condition of 800 G. When the inertia lock encoun-
ters to the arming condition of 1300 G, the displacement of the tip
was found to be 0.68 mm. This indicates that the inertia lock fully
releases the rack under the arming condition.
The simulation results of the spin lock under safety (900 rpm)
and arming (2100 rpm) are shown in Fig. 7(a) and (b) respectively.
Similar to the inertia lock, the spin lock releases the rack when
Table 1
Result of the FEM simulations: Displacement of the tips of the inertia lock and the spin lock.
Release displacement
Inertia lock > 0.55 mm
Spin lock > 0.60 mm
Fig. 7. FEM simulation result of the spin lock.
Fig. 8. Summary of fabrication steps of the stainless steel frame [25].
its tip moves more than 0.60 mm to the x-direction (Table 1). The
simulation showed that the tip of the spin lock moves 0.17 mm
and 0.94 mm under excitation of 900 rpm and 2100 rpm respec-
tively. Therefore, the spin lock is also considered to be satisfying
both safety and arming conditions.
2.3. Fabrication of the miniature mechanical SAD
The stainless steel frame, the rack, and the gear were fabri-
cated using the stainless steel wet etching process. Fig. 8 shows
the fabrication process of stainless steel frame [25]. Dry film pho-
toresists (TK-7030, Kolon corp, Republic of Korea) were laminated
on the both sides of a 0.15 mm thick stainless steel sheet (Area
of 600 mm × 400 mm). The temperature and the roll speed for the
laminating process was 110◦ , 1.5 m/min respectively. The dry film
photoresists were exposed in UV (i-line 365 nm, dose amount :
50 mJ/cm2 ) and developed in 1.0 wt% sodium carbonate solution.
The unexposed areas of the stainless steel were etched away by
using 5 wt% of ferric chloride and 20 wt% of hydrochloric acid solu-
tion. Temperature of the etchant was 50 ◦ . After 40 min of etching,
the dry film photoresist were removed in 3 wt% of sodium hydrox-
ide. For the case of rack and the gear, 0.25 mm thick stainless steel
sheets were used and the 60 min of etching duration were needed.
Displacement (Safety) Displacement (Arming)
0.42 mm 0.68 mm
0.17 m0.4m 0.94 mm
 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524 521

Table 3
List of experiments conducted on the new SAD.

Experiment Evaluation criteria

Spring test Safety and arming

Spin test
Grenade firing test Firing environment
Temperature test Irregular environment
Jolt test
Jumble test
Vibration test
Drop test
High impact test
Fig. 9. Results of stainless steel wet etching process.

measured to be 4010 mm3 , which is about half the size of a con-

ventional mechanical SAD [17–19,24–26].

3. Experiment and results

The miniature mechanical SAD was tested to verify its safety

Fig. 10. Photographs of a miniature mechanical SAD.
The stainless steel wet etching process showed tolerance of less
than 20 ␮m. The components were carefully detached from the
stainless steel sheet; then used for the assembly. Fig. 9 shows the
result of the stainless steel wet etching process. Although it is limit
to two dimensional designs, stainless steel wet etching process
showed ten times better production rate and cost than the UV LIGA
process used for making conventional miniature SADs [25].
Other components such as the housings, the slider, the spin
mass, the inertia mass, the driving mass, the pinion shafts for the
gear assembly and the star wheel assembly, the star wheel, and
the pallet were fabricated by the conventional precision machin-
ing process (milling, turning and blanking). All of the components
made by the precision machining process showed tolerance of less
than 0.05 mm. The gear and the pinion shaft were clamped mechan-
ically into gear assembly using automatic press equipment. The
same clamping process was also done for the star wheel assem-
bly. The materials and the fabrication of the all components are
indicated in Table 2.
After placing all the components, the housings were fastened
together with two stainless steel bolts (#0-80 UNF-3 A). Fig. 10
shows the photograph of an assembled miniature mechanical SAD
without the upper housing. The volume of the miniature SAD was
and arming performance. Table 3 shows the list of tests that were
conducted. The basic functions such as safety, arming, and arming
delay were evaluated using the spin and inertia tests. The SAD was
also fired on 40 mm grenade to check its performance under actual
firing conditions. Because the SAD was designed to be armed only
under the acceptable firing condition, safety performance of the
SAD under various environmental conditions also had to be con-
sidered. For this purpose, temperature, jolt, jumble, vibration drop,
and high impact tests were conducted to check the safety of the
new SAD.
3.1. Spring test
Performance of the inertia lock was indirectly evaluated by the
spring test because the desired setback acceleration is difficult to
achieve in a laboratory. The test was performed using an automatic
spring tester (PRO-1000, Japan Instrumentation System Co.). The
restoring force of the inertia lock was measured by applying dis-
placement. Fig. 11 shows the result of the spring test and the FEM
simulation. The FEM simulation result corresponds to the displace-
ment of the inertia lock with respect to the setback acceleration,
which is extended result in Section 2.2. Although there is an offset
between FEM and test result, both results illustrate that the inertia
lock had a release displacement of 0.55 mm between the safety and
arming condition values. The offset is considered to be the effect
of residual stress from thermal process of the stainless steel sheet
rolling and the stainless steel frame fabrication.

Table 2
Materials and fabrication of the components.

Components Materialsa Fabrication

Housings Aluminum (A6061) CNC milling

Slider Tool steel (SK11) CNC milling
Spin mass Stainless steel (STS304) CNC milling
Inertia mass Stainless steel (STS416) CNC milling
Driving mass Brass (C3604BD) CNC milling
Stainless steel frame Stainless steel (STS304) Wet etching
Rack Stainless steel (STS304) Wet etching
Gear assembly Pinion shaft Stainless steel (STS416) CNC turning and milling
Gear Stainless steel (STS304) Wet etching
Star wheel assembly Pinion shaft Stainless steel (STS416) CNC turning and milling
Star wheel Beryllium copper (C17200) Fine blanking
Pallet Brass (C3604BD) CNC milling
a
Indicated in Korean industrial standards (KS).
522 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524

Fig. 13. Distribution of the arming delay performance.

3.3. Grenade firing test

Fig. 11. Result of the spring test.

3.2. Spin test
Samples (160) of the miniature mechanical SADs were fabri-
cated and spun using the spin test platform shown in
Fig. 12. The safety and arming performance of the spin lock was
evaluated by controlling the spin rate of the spin test setup. A pneu-
matic actuator pushes the inertia lock to release the constraint of
the rack when the spin rate reaches to the desired value. If the spin
rate is enough to deflect the spin lock, the rack drives through and
drags the slider to shift the SAD into the armed position. Table 4
shows the results of the spin tests. All of the samples showed suc-
cessful performance under the both safety (900 rpm) and arming
(2100 rpm) conditions.
The arming delay was measured using the LED spin counter of
the spin test setup, and a spin rate of 3780 rpm was used to set
the same condition as the 40 mm grenade firing test. Among the
samples, 98% were found to have sufficient arming delay subject to
the target arming delay of 20 rev, which corresponds to 60 m safety
distance when firing 155 mm munition firing (Fig. 13) [24,26,27].
One hundred of the miniature mechanical SADs were installed
in 40 mm grenades to check the safety and arming performance in
a realistic firing environment. With firing condition of 18,000 G set-
back acceleration and 3780 rpm spin rate, the test was conducted
in two different ways (with safety and arming distance) [27].
Fig. 14(a) shows the safety distance test platform with grenade
firing. Fifty samples were shot towards the plywood target from
23.6 m away. The distance 23.6 m is the value converted from 60 m
safety distance for firing 155 mm munitions [24,26,27]. All of the
samples were retrieved and disassembled after the test. Although
the rack
had been released from the inertia lock and the spin lock, it was
confirmed that the slider of the SAD remained in the safe position
(Fig. 15(a)). This result agrees to the spin test result and indicates

Fig. 12. Spin test platform.

Table 4
Spin test result.

Samples Safety Arming Arming delay (at 3780 rpm)

Mean STD Max Min

160 100 % safe 100% armed 23.1 rev 1.57 rev 27.75 rev 19.75 rev
Fig. 14. Grenade firing test platforms.
 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524 523

Table 5
Details of environmental condition tests [9].

Criteria Experiment Result Details

Survival in harsh Temperature 20 / 20 safe and armed Samples are placed in both chambers of −40 ◦ C and 60 ◦ C. The spin test is
environment conducted after the test.
High impact 4 / 4 safe and armed Samples crash into the lead with 20,000 G impact. The spin test is conducted
after the test
Shock and vibration Jolt 12 / 12 safe The samples are subjected to impact 1750 times in three different orientations.
endurance Jumble 10 / 10 safe Random impacts are exerted by rotating box, which contains the sample
equipped with the fuze. The box rotates 3600 revolutions with the spin rate of
30 rpm
Vibration 6 / 6 safe Samples vibrate for two hours in three different orientations.
Drop 10 / 10 safe The samples are dropped from the height of 1.5 m to the steel plate. The drop
is made in five different orientations.

(inertia and spin) of the SAD. Furthermore, samples subjected to the temperature and high impact tests were spun at 2100 rpm directly after the tests to check the survival
of the SAD and found to be successfully armed.

tests included temperature, jolt, jumble, vibration, high impact, and

drop tests [9]. The SAD should be in the safe position after these
tests. Fig. 16 and Table 5 shows the test platforms and the detailed
description of each test. Similar to the samples of the grenade firing
test, the samples of environmental condition tests were carefully
disassembled after the test and all of them were found to be in the
safe position. This safety performance can be considered as a result
of two independent locks

4. Conclusions

In this paper, a miniature mechanical SAD with rack and pin-

Fig. 15. The miniature mechanical SAD samples after the grenade firing test.
that the SADs have sufficient arming delay performance for the
155 mm munition firing.
The arming distance test with grenade firing is a method to ver-
ify the reliable arming performance of the SAD. Unlike the case of
safety distance, these grenades were shot off in a parabolic tra-
jectory and landed on the ground which is about 200 m from the
launcher (Fig. 14(b)). Fifty samples were tested and all of them were
found to be in the armed position (Fig. 15(b)).
3.4. Environmental condition tests
The main purpose of the environmental condition tests was to
verify the safety performance of the SAD during fuze handling. The
ion mechanism was proposed that can operate without the use
of electromagnetic signals. Miniaturization was provided by using
stainless steel wet etching process, which has the great advantage
of batch production. The SAD mainly functions in response to the
setback force and centrifugal force, and effectively blocks align-
ment of the explosive train until after the appropriate munition
firing criteria are met. Through the inertia and spin test, both safety
and arming performances were evaluated and found to be success-
ful under the desired conditions. Reliable arming delay was also
demonstrated by the operation of the runaway escapement sys-
tem. The SAD was fire tested after installation in 40 mm grenades
to evaluate its operation behavior under realistic firing conditions.
It was shown to have sufficient safety distance and arming distance
that is acceptable for application as the fuze in artillery munition.
Moreover, the SAD was shown to be perfectly safe under a variety
of fuze handling conditions. The proposed SAD is expected to be
applied not only in large caliber course correction fuzes, but also in
smaller caliber ammunitions.

Fig. 16. Environmental condition test platforms.

524 J.-h. Jeong et al. / Sensors and Actuators A 279 (2018) 518–524
Acknowledgment
We would like to acknowledge the technical support from
ANSYS Korea.
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Biographies
Ji-hun Jeong was born in Seoul, Republic of Korea in 1993. He received his BS degree
from Kumoh National Institute of Technology, Korea in 2014 and MS degree in the
Department of Mechanical Engineering from Korea Advanced Institute of Science
and Technology (KAIST) in 2016. He is currently a Ph.D. candidate in the Depart-
ment of Mechanical Engineering at KAIST from 2016. His research interests include
Harsh MEMS, Defense MEMS, Micro electrospray device and Nano-material based
3D printing technology.
Junseong Eom was born in Seoul, Republic of Korea in 1989. He received his BS
and MS degrees of mechanical engineering from Korea Advanced Institute of Sci-
ence and Technology (KAIST) in 2011 and 2013. He is now a Ph.D. candidate in the
Department of Mechanical Engineering at KAIST. He is interested in Electronics with
Nano-material, Defense MEMS and Bio-medical application of MEMS and Optics.
Seung S. Lee was born in Seoul, Republic of Korea in 1962. He received BS degree
from Seoul National University, Korea in 1984 and the MS degree in mechanical
engineering of University of California, Berkeley, USA in 1989. After his MS degree,
he joined Berkeley Sensor and Actuator Center (BSAC) and got his Ph.D. degree there
in 1995. After 1 year at Samsung Advanced Institute of Technology (SAIT) in Kiheung,
Korea, he joined the Faculty of the Department of Mechanical Engineering of Pohang
University of Science and Technology (POSTECH), Korea, in 1997 and became an
associate professor there in 2003. He moved from POSTECH to the Korea Advanced
Institute of Science and Technology (KAIST) in 2003 as an associate professor of
the Department of Mechanical Engineering and currently working at KAIST as a
professor. His recent research area includes HARMST with LIGA process, Bio-MEMS,
Microfluidics, piezo-MEMS and Transparent electrode.
Dong Wan Lim was born in Seoul, Republic of Korea in 1978. He received his BS
degree from Yeungnam National University, Korea in 2004 and MS degree in the
Department of Mechanical Engineering from Pusan National University, Korea in
2007. Currently he works for Hanwha Corporation R&D team from 2013.
Yong Ik Jang was born in Daegu, Republic of Korea in 1985. He received his BS degree
from Kyungpook National University, Korea in 2011 and MS degree in the Depart-
ment of Metallurgical Engineering from Kyungpook National University, Korea in
2013. Currently he works for Hanwha Corporation R&D team from 2013.
Kyoung Woong Seo was born in Gwangju, Republic of Korea in 1978. He received
BS degree in the Department of Mechanical Engineering from Inha University, Korea
in 2003. Currently he works for Hanwha Corporation R&D team from 2003.
Seong Soo Choi was born in Kyungbuk, Republic of Korea in 1968. He received
BS degree and MS degree in metallurgical engineering of Kyungpook National Uni-
versity, Korea in 1989 and 1992. After his MS degree, he has worked for Hanwha
Corporation as General Manager in the field of developing defense system.
Chun Jae Lee was born in Uljin, Republic of Korea in 1983. He received BS degree
from Korea Military Academy (KMA) in 2006 and MS degree in the Department of
Mechanical Engineering from Korea Advanced Institute of Science and Technology
(KAIST) in 2014. Currently he works for Defense Acquisition Program Administration
(DAPA) from 2014.
Jong Soo Oh received his BS degree in mechanical engineering from Hanyang Uni-
versity, Korea in 1978. After his BS degree, he received his Ph.D. degree in mechanical
design engineering from Chungnam National University, Korea in 1995. He is cur-
rently a principal researcher of Agency for Defense Development. His research
interests include Artillery fuze, MEMS based safety and arming unit and MEMS based
sensor design.