Miniature mechanical safety and arming device with runaway escapement arming delay mechanism for artillery fuze

•Miniature mechanical safety and arming device is proposed for actual munition firing.•Reliable arming delay performance was achieved by runaway escapement mechanism.•Compact design of the device was available by stainless steel wet etching process.•The device showed successful safety and arming performance under actual field tests.•The device found to be appropriate under variety of environmental conditions.