Device and method for stepwise actuation of multi-link

PURPOSE: A stepwise driving device of a multi-axis link is provided to secure stepwise driving by checking the access of a driving control bar. CONSTITUTION: A stepwise driving device(100) of a multi-axis link comprises a driving control bar(10), a driving unit(20), a driven units(30, 40, 50), sensor units(31, 32), and a brake pad. The driving control bar is rotated by a driving motor. The driving unit is mounted in the driving control bar and composed of a combination of a motor and a gear. The driven unit is arranged in the rotational path of the driving control bar and rotated by the driving unit. The sensor units checks that the driving control bar approaches the driven unit or moves separately from the driven units. When the driving control bar approaches the driven unit, the brake pad releases the driven units and when the driving control bar is separated from the driven unit, the brake pad restrains the driven units.