WO2013162268A1 - Five degrees-of-freedom parallel micro robot - Google Patents

Abstract

Disclosed is a 5 degrees-of-freedom parallel micro robot which can be manufactured to be compact, and which can be more precisely controlled when compared to conventional parallel robots. The five degrees-of-freedom parallel micro robot can very precisely adjust an angle of an actuator disk with respect to a biaxial rotational connection means for connecting the actuator disk and a vertical height-adjusting actuator by using first and second angle-adjusting actuators, thereby obtaining high accuracy.

Description

 Parallel 5 degree of freedom micro robot

The present invention relates to a parallel five degree of freedom micro robot, and more particularly, to a parallel five degree of freedom micro robot used in stereotactic surgery.

In general, a robot having a serial structure is widely used to control a position and a posture in three dimensions during a surgery using a robot. However, in recent years, various types of parallel robots have been developed and used as compared to serial structures.

This parallel surgical robot can reduce the inertial mass of the moving part compared to the surgical robot of the serial structure to increase the speed and acceleration of the machine. The base plate and the operating plate are connected by a plurality of actuators. Since each actuator receives only tensile and compressive forces instead of bending forces, mechanical stiffness can be increased, and the accuracy of each actuator is reflected on the operating plate on the average, which improves accuracy compared to a serial robot that accumulates errors. Has the advantage of.

However, in such a general parallel surgical robot, as the degree of freedom increases, the number of actuators corresponding to the increased degree of freedom must be further installed between the operating plate and the base plate. Therefore, when manufacturing a surgical robot having a parallel structure having more than five degrees of freedom as well as an increase in the manufacturing cost, there is a problem that the size of the robot is large and is restricted in installation and surgical space.

In addition, the conventional parallel surgical robot has a problem in that kinematics have a lot of constraints on driving due to organic driving of an orientation motion and a translation motion.

Accordingly, it is an object of the present invention to provide a parallel five-degree-of-freedom micro robot that can be manufactured in a compact manner as compared to a conventional parallel robot, and capable of more precise control.

Parallel 5-degree of freedom micro robot according to an embodiment of the present invention is a first sliding movement unit is installed on the base plate, and the first sliding unit to be slid to move in a different direction from the first sliding movement unit A second sliding movement unit to be installed, an up and down movement actuator fixedly installed to the second sliding movement unit, and disposed to be positioned at a movement direction side of the first sliding movement unit, such that a lower end is rotatably connected to the base plate. A first angle adjustment actuator, a second angle adjustment actuator disposed to be positioned on the side of the second sliding movement unit and rotatably connected to the base plate, and a center portion rotatably connected to the vertical movement actuator Connected to the first and second angle adjustment actuators It includes a working plate that is rotatably connected to both sides of one end.

For example, the second sliding movement unit may be installed in the first sliding unit to be slidably moved in a direction perpendicular to the first sliding movement unit.

For example, the first and second angle adjustment actuators may be disposed such that angles formed with the vertical movement actuators form a right angle.

For example, the vertical height adjustment actuator may be connected to the central portion of the operating plate by a two-axis rotation connecting means.

Here, it is preferable that the two-axis rotation connecting means connects the actuator for adjusting the vertical height and the operating plate such that two rotation shafts are disposed in parallel with the moving directions of the first and second sliding movement units, respectively.

The first and second angle adjusting actuators may also be connected to the base plate by biaxial rotation connecting means.

Here, it is preferable that the two-axis rotation connecting means connects the first and second angle adjustment actuators and the base plate such that two rotation shafts are parallel to the moving directions of the first and second sliding movement units, respectively.

For example, the two-axis rotation connecting means may be a universal joint.

For example, the first and second angle adjustment actuator is a parallel five degree of freedom micro robot, characterized in that connected by the operation plate and the omni-directional rotation means.

Here, the omnidirectional rotation means may be a ball joint.

For example, the first and second sliding units may be LM guides.

On the other hand, the two-axis rotation connecting means for connecting the actuator for adjusting the vertical height and the operating plate is a fixed plate installed in the vertical movement actuator to be inserted into the connection hole formed in the operating plate, and the first sliding movement unit or the first 2 a pair of first rotating shafts disposed in the fixed plate and parallel to the moving direction of the sliding movement unit and disposed on the same line, and through holes through which the fixed plates are inserted are formed, As long as the rotating plate is rotatably connected, and the rotating plate is rotatably connected to the operating plate so as to be disposed in parallel with the moving direction of the second sliding unit or the second sliding unit, and positioned on the same line with each other. It may also be configured to include a second axis of rotation of the pair.

In addition, the parallel-type 5-degree-of-freedom micro robot according to the present invention further comprises a roll motion prevention unit fixed to the second sliding movement unit to be connected to the vertical movement actuator.

For example, the roll motion prevention unit may include a support member fixed to the second sliding unit, at least one guide member slidingly coupled to the support member, and the guide member to be fixedly connected to the vertical movement actuator. It includes a connection block that is installed.

As described above, the parallel 5-degree-of-freedom micro robot according to an embodiment of the present invention uses the first and second angle adjustment actuators to connect the operating plate and the upper and lower height actuators to the two axis rotation connecting means. Since the angle can be adjusted very precisely, high accuracy can be obtained.

In addition, by using only the first, the second angle adjustment actuator is formed in a structure that can adjust the operating plate to a desired angle, compared to the conventional parallel micro robot, the number of actuators for adjusting the angle of the operating plate significantly Since it can be reduced, it can be manufactured in a small and lightweight structure, thereby minimizing installation and surgical space constraints.

In addition, the position of the operation plate is adjusted by the first and second sliding movement units and the vertical movement actuator, and the direction of the operation plate is adjusted by the first and second angle adjustment actuators, so that an orientation motion of the operation plate is achieved. ) And translation motion can be driven separately from each other to improve the kinematic characteristics, thereby enabling more precise control.

In addition, since the play does not occur in the two-axis rotation connecting means for connecting the actuator for moving up and down, there is an effect that more precise control is possible.

In addition, the rod motion preventing unit is supported by the rod of the vertical movement actuator connected to the operation plate is supported to prevent the rolling phenomenon of the rod of the vertical movement actuator has an effect that more precise control is possible.

1 is a perspective view of a parallel five degree of freedom micro robot according to a first embodiment of the present invention;

Figure 2 is another perspective view of a parallel five degree of freedom micro robot according to the first embodiment of the present invention

3 is a view showing a state in which the micro robot according to the first embodiment of the present invention is installed in the macro robot

4 is a perspective view of a parallel five degree of freedom micro robot according to a second embodiment of the present invention;

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and that one or more other features It should be understood that it does not exclude in advance the possibility of the presence or addition of numbers, steps, actions, components, parts or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

<First Embodiment>

1 is a perspective view of a parallel five degree of freedom micro robot according to a first embodiment of the present invention, Figure 2 is another perspective view of a parallel five degree of freedom micro robot according to a first embodiment of the present invention.

1 and 2, the parallel 5-degree of freedom micro robot according to the present embodiment is a base plate 100, the first sliding movement unit 110, the second sliding movement unit 120, the vertical movement actuator ( 130, a first angle adjusting actuator 140, a second angle adjusting actuator 150, and an operation plate 160.

The base plate 100 is rotatably connected to the macro robot 20 (see FIG. 3). For example, the base plate 100 may be formed in a disc shape, and a center portion thereof may be rotatably connected to the macro robot 20.

The first sliding movement unit 110 is installed on the base plate 100. For example, the first sliding movement unit 110 includes an LM guide 111 and an actuator 112. In the LM guide 111, a guide portion 111a is installed on the base plate 100, and a guide block 111b is slidably fastened to the guide portion 111a. The actuator 112 is connected to the guide block 111b to slide the guide block 111b along the guide part 111a. For example, the actuator 112 may be a cylinder. The cylinder used as the actuator 112 may be installed in the guide part 111a such that the rod part is connected to the guide block 111b so that the guide block 111b is guided by the rod part. It can be slid along the 111a.

The second sliding movement unit 120 is installed in the first sliding movement unit 110 to be slidably moved in a different direction from the first sliding movement unit 110. For example, the second sliding movement unit 120 may be installed in the first sliding movement unit 110 to be slidably moved in a direction perpendicular to the first sliding movement unit 110. The second sliding unit 120 as described above includes, for example, an LM guide 121 and an actuator 122. In the LM guide 121, a guide part 121a is installed at the guide part 111a of the first sliding movement unit 110, and the guide block 121b is slidingly fastened to the guide part 121a. The actuator 122 is connected to the guide block 121b to slide the guide block 121b along the guide portion 121a. For example, the actuator 122 may be a cylinder. The cylinder used as the actuator 122 may be installed in the guide part 121a such that the rod part is connected to the guide block 121b so that the guide block 121b is guided by the rod part. It is to be sliding along the 121a.

The vertical movement actuator 130 is fixedly installed on the second sliding movement unit 120. For example, the vertical movement actuator 130 may be fixedly installed by a plurality of fixing means (not shown) to the guide block 121b of the second sliding movement unit 120. For example, the vertical movement actuator 130 may be a cylinder.

The first angle adjustment actuator 140 is disposed to be positioned on the side of the first sliding movement unit 110 in the moving direction so that the lower end is rotatably connected to the base plate 100. For example, the first angle adjusting actuator 140 may be connected to the base plate 100 by a biaxial rotation connecting means 141. Here, the two-axis rotation connecting means 141 is the first angle adjusting actuator 140 and the base plate (2) so that the two rotation shafts are parallel to the moving direction of the first, second sliding unit 110, 120, respectively ( Connect 100). Therefore, the two-axis rotation connecting means 141 is the first sliding movement unit 110 is moved in the A direction or A 'direction when the first angle adjustment actuator 140 in the C direction or C' direction 1 to be rotated in conjunction with the sliding movement unit 110, and when the second sliding movement unit 120 is moved in the B direction or B 'direction, the second sliding actuator 140 for the second sliding movement Interlocked with the unit 120 to be rotated in the D direction or D 'direction. Here, the first angle adjustment actuator 140 may be a cylinder. Meanwhile, the universal joint may be used as the two-axis rotation connecting means 141.

The second angle adjustment actuator 150 is disposed to be located on the side of the second sliding movement unit in the direction of movement so that the lower end is rotatably connected to the base plate 100. For example, the second angle adjusting actuator 150 may be connected to the base plate 100 by biaxial rotation connecting means 151. Here, the two-axis rotation connecting means 151 is the second angle adjusting actuator 150 and the base plate so that the two rotating shafts are parallel to the moving direction of the first and second sliding movement units 110 and 120, respectively. Connect 100. Therefore, when the first sliding movement unit 110 is moved in the A direction or the A 'direction, the biaxial rotation connecting means 151 moves the second angle adjusting actuator 150 in the E direction or the E' direction. 1 to be rotated in conjunction with the sliding movement unit 110, when the second sliding movement unit 120 is moved in the B direction or B 'direction the second angle adjustment actuator 150 to the second sliding movement Interlocked with the unit 120 to be rotated in the F direction or F 'direction. Here, the second angle adjustment actuator 150 may be a cylinder. Meanwhile, a universal joint may be used as the biaxial rotation connecting means 151.

On the other hand, it is preferable that the first and second angle adjustment actuators 140 and 150 are disposed such that an angle d formed with the vertical movement actuator 130 forms a right angle.

The operating plate 160 is rotatably connected to the center portion of the actuator 130 for vertical movement. For example, the vertical movement actuator 130 is connected to the central portion of the operating plate 160 by a biaxial rotation connecting means 161. In this case, the two-axis rotation connecting means 161 is the actuator for the vertical height adjustment 130 and the operation so that the two rotating shafts are arranged in parallel with the moving direction of the first, second sliding unit 110, 120, respectively. The plate 160 is connected. Therefore, when the one end of the operation plate 160 is raised or lowered by the first angle adjustment actuator 140, the two-axis rotation connecting means 161 is the two-axis rotation connecting means 161 may be rotated in the G direction or the G 'direction, and when the other end of the operation plate 160 is raised or lowered by the second angle adjusting actuator 150, the operation plate 160 may be rotated. The two-axis rotation connecting means 161 to be rotated in the H direction or H 'direction. As the two-axis rotation connecting means 161, a universal joint may be used. In addition, the operation plate 160 may be formed in a disc shape. Unlike this, the operating plate 160 is connected to the first and second angle adjusting actuators 140 and 150 and one end thereof, respectively, and the other end thereof is connected to the first and second connection parts 160a and 160b, respectively. It may be composed of an extension portion 160c extending from the other end portion of the first and second connection portions 160a and 160b. Here, the first and second connection parts 160a and 160b are connected to be perpendicular to each other, and the first and second connection parts 160a and 160b and the extension part 160c are spaced at equal intervals.

Meanwhile, the first and second angle adjusting actuators 140 and 150 are connected by the operation plate 160 and the omnidirectional rotation means 142 and 152. For example, the omnidirectional rotation means 142, 152 may be a ball joint.

In addition, a fixing portion 162 may be further provided at a central portion of the other end of the operation plate 160 (the end of the extension portion 160c). Here, the fixing unit 162 of the operation plate 160 may be fixed to the needle insertion device 30 by using a plurality of fixing means (not shown).

* Referring to Figures 1 to 3 will be described the operation and operation effects of the parallel 5-degree of freedom micro robot according to the present embodiment.

3 is a view showing a state in which the micro robot according to the first embodiment of the present invention is installed in the macro robot.

1 to 3, the parallel 5-degree of freedom micro robot according to the present embodiment has a base plate 100 rotatably connected to the macro robot 20 as shown in FIG. 20) is moved near the surgical position. Then, by operating the parallel 5-degree of freedom micro robot 10 according to an embodiment of the present invention to precisely control the position of the needle insertion device (30). Here, the macro robot 20 may be a six degree of freedom robot.

As described above, after the parallel robot having the five degree of freedom micro robot 10 according to the present embodiment is moved near the surgical position by the macro robot 20, the first sliding movement unit 110 and the second sliding movement are performed. By operating the unit 120 to move the operation plate 160, the needle insertion device 30 is installed front, rear, left and right to adjust the front, rear, left and right positions of the needle insertion device (30).

After adjusting the front, rear, left and right positions of the needle insertion device 30 as described above, by operating the vertical movement actuator 130 so that the operation plate 160 is raised or lowered by the vertical movement actuator 130. By adjusting the vertical height of the needle insertion device 30 installed in the operation plate 160.

* After adjusting the up and down height of the needle insertion device 30, the first angle adjustment actuator 140 and the second angle adjustment actuator 150 is operated to move the operation plate 160 to the vertical movement actuator By rotating about the end of the 130, the needle insertion angle of the needle insertion device 30 installed in the operation plate 160 is adjusted.

After adjusting the needle insertion angle of the needle insertion device 30 as described above, by operating the needle insertion device 30, the needle of the needle insertion device 30 is inserted into the surgical site.

Parallel 5-degree of freedom micro robot 10 according to an embodiment of the present invention to secure the two degrees of freedom by moving the operation plate 160 back and forth, left and right by the first, second sliding movement unit 110, 120, By moving the operation plate 160 up and down by the vertical movement actuator 130 to ensure one degree of freedom, the first and second angle adjustment unit 140, 150 by the actuator 160 for the vertical movement actuator 5 degrees of freedom can be secured by securing two degrees of freedom by rotating in different directions with respect to the end of the 130, respectively.

Parallel 5 degree of freedom micro robot 10 according to an embodiment of the present invention as described above using the first and second angle adjustment actuators 140 and 150, the operating plate 160 and the vertical height adjustment actuator 130 Since the angle of the operating plate 160 can be adjusted very precisely with respect to the two-axis rotation connecting means 161 for connecting), there is an advantage of ensuring high accuracy.

In addition, by using only the first and second angle adjustment actuators 140 and 150 are formed in a structure that can adjust the operating plate 160 to a desired angle of the operation plate 160 as compared to the conventional parallel micro robot Since the number of actuators to adjust the angle can be significantly reduced, it can be manufactured in a small and lightweight structure, which has the advantage of minimizing installation and surgical space restrictions.

On the other hand, in the parallel 5-degree of freedom micro robot according to an embodiment of the present invention, the position of the operation plate 160 is adjusted by the first and second sliding movement units 110 and 120 and the vertical movement actuator 130. The direction of the operation plate 160 is adjusted by the first and second angle adjustment actuators 140 and 150. That is, the orientation motion and the translation motion of the operation plate 160 are driven separately from each other without being driven organically, so that the kinematic characteristics can be improved, so that more precise control is possible. There is this.

Second Embodiment

4 is a perspective view of a parallel five degree of freedom micro robot according to a second embodiment of the present invention.

Parallel 5 degree of freedom micro robot according to the present embodiment is a first embodiment except that the operation plate 160 and the vertical movement actuator 130 is connected and the roll motion prevention unit 170 is further added, Since the parallel 5 degree of freedom is substantially the same as that of the micro robot, the operation plate 160 and the vertical movement actuator 130 are connected to each other and other components except the contents of the roll motion preventing unit 170. The description will be omitted, and the same reference numerals will be given to the same or similar components as those in the first embodiment.

Referring to FIG. 4, the operation plate 160 may further include a connection hole 160d at a central portion thereof. On the other hand, the connecting hole 160d is inserted and connected to the two-axis rotation connecting means 161 which is connected to the vertical movement actuator 130. Therefore, the operation plate 160 is rotatably connected to the center portion of the actuator 130 for vertical movement. For example, the two-axis rotation means 161 is the vertical and horizontal height adjustment actuator 130 and the two rotating shafts are arranged in parallel with the moving direction of the first and second sliding movement unit 110, 120, respectively Connect the operation plate 160. Therefore, when the one end of the operation plate 160 is raised or lowered by the first angle adjustment actuator 140, the two-axis rotation connecting means 161 is the two-axis rotation connecting means 161 may be rotated in the G direction or the G 'direction, and when the other end of the operation plate 160 is raised or lowered by the second angle adjusting actuator 150, the operation plate 160 may be rotated. The two-axis rotation connecting means 161 to be rotated in the H direction or H 'direction.

The biaxial rotating means 161 will be described in more detail. The biaxial rotating means 161 includes a fixed plate 161a, a pair of first rotating shafts 161b, a rotating plate 161c, and a second rotating shaft 161d. ).

The fixing plate 161a is installed in the vertical movement actuator 130 to be inserted into the connection hole 160d of the operation plate 160.

The pair of first rotating shafts 161b are installed on the fixing plate 161a. For example, the pair of first rotating shafts 161a are installed on the fixing plate 161a to be disposed in parallel with the moving direction of the first sliding moving unit 110 or the second sliding moving unit 120. . On the other hand, the pair of first rotating shaft (161b) is installed on the fixing plate (161a) to be located on the same line with each other.

The rotating plate 161c has a through hole 161c 'formed at a central portion thereof, and the fixing plate 161a is disposed inside the through hole 161c' to be rotatably connected to the pair of first rotating shafts 161b. .

One end of the pair of second rotating shafts 161d is fixed to the operation plate 160, and the other end of the pair of rotation plates 161c is rotatably connected. For example, the pair of second rotating shafts 161d may operate the rotating plate 161c such that the pair of second rotating shafts 161d are disposed in parallel with the moving direction of the second sliding moving unit 110 or the second sliding moving unit 120. The plate 160 is rotatably connected. That is, it is disposed perpendicular to the pair of first rotating shaft 161b to rotatably connect the rotating plate 161c to the operating plate 160. Meanwhile, the pair of second rotary shafts 161d are also disposed on the same line as the pair of first rotary shafts 161a to rotatably connect the rotary plate 161c to the operation plate 160. do.

As described above, in the parallel 5-degree of freedom microrobot according to the second embodiment of the present invention, the first rotation shaft 161b is fixed to the fixed plate 161a connected to the vertical movement actuator 130, and the second rotation shaft ( 161d is fixed to the operation plate 160 to operate the first and second sliding movement units 110 and 120 or the first and second angle adjustment actuators 140 and 150 to operate the operation plate 160. Even though the biaxial rotation connecting means 161 is rotated about the center, there is an advantage that more precise control is possible because no play occurs in the biaxial rotation connecting means 161.

In addition, the parallel five degree of freedom micro robot according to the second embodiment of the present invention may further include a roll motion prevention unit 170.

The roll motion preventing unit 170 is fixed to the second sliding movement unit 120 to be connected to the rod 130a of the up and down movement actuator 130 to fix the rod 130a of the up and down movement actuator 130. I support it.

The roll motion preventing unit 170 includes a support member 171, at least one guide member 172, and a connection block 173.

The support member 171 is fixedly installed on the second sliding movement unit 120.

The at least one guide member 172 is slidingly fastened to the support member 171. Here, in order to support the connection block 173 more stably, it is preferable that the at least one pair of guide members 172 are slidingly fastened to the support member 171.

The connecting block 173 is installed on the guide member 172 and is fixedly connected to the rod 130a of the vertical movement actuator 130 to support the rod 130a so that the rod of the vertical movement actuator 130 ( 130a) to prevent the rolling phenomenon.

The roll motion prevention unit 170 as described above, when the rod 130a of the vertical movement actuator 130 is elevated, the connection block 173 fixedly connected to the rod 130a is interlocked with the rod 130a. As a result, the guide member 172 also moves up and down by interlocking with the connection block 173 as the connection block 173 is raised.

As described above, the parallel five degree of freedom micro robot according to the second embodiment of the present invention includes a rod 130a of the vertical movement actuator 130 connected to the operation plate 160 by the roll motion preventing unit 170. ) Is supported by the operation plate 160 by the operation of the first and second sliding movement unit 110, 120 or the first and second angle adjustment actuators 140 and 150, the two-axis rotation connecting means Even if it is rotated about 161, there is an advantage that more precise control is possible by preventing the rod 130a of the vertical movement actuator 130 is rotated.

In the drawings, the roll motion preventing unit 170 is shown to be applied only to the parallel 5-degree of freedom micro robot according to the second embodiment of the present invention, but the roll motion preventing unit 170 is applied to the first embodiment of the present invention. Parallel five degrees of freedom can also be applied to the micro robot.

In the detailed description of the present invention described above with reference to the preferred embodiments of the present invention, those skilled in the art or those skilled in the art having ordinary skill in the art will be described in the claims to be described later It will be understood that various modifications and variations can be made in the present invention without departing from the scope of the present invention.

Claims (14)

1. A first sliding unit installed on the base plate;

   A second sliding movement unit installed in the first sliding unit to be slidably moved in a different direction from the first sliding movement unit;

   An actuator for vertical movement fixed to the second sliding unit;

   A first angle adjustment actuator disposed to be positioned on the side of the first sliding movement unit and rotatably connected to the base plate;

   A second angle adjustment actuator disposed to be positioned on the side of the second sliding movement unit and rotatably connected to the base plate; And

   A central part is rotatably connected to the vertical movement actuator, the parallel 5-degree of freedom micro-robot including a working plate rotatably connected to both sides of the first and second angle adjustment actuator.
2. The method of claim 1,

   The second sliding movement unit,

   And a parallel five degree of freedom micro robot installed in the first sliding unit to be slidably moved in a direction perpendicular to the first sliding moving unit.
3. The method of claim 1,

   And the first and second angle adjustment actuators are arranged such that angles formed with the vertical movement actuators form a right angle.
4. The method of claim 1,

   The vertical height adjustment actuator is a parallel five degree of freedom micro robot, characterized in that connected to the central portion of the operating plate by a two-axis rotation connecting means.
5. The method of claim 4, wherein

   The two-axis rotation connecting means is a parallel 5-degree of freedom microorganism, characterized in that for connecting the upper and lower height adjustment actuator and the operating plate so that the two rotating shafts are arranged in parallel with the moving direction of the first and second sliding movement units, respectively. robot.
6. The method of claim 1,

   The first and second angle adjustment actuators are parallel five degree of freedom micro robot, characterized in that connected to the base plate by a two-axis rotation connecting means.
7. The method of claim 6,

   The two-axis rotation connecting means is a parallel five degree of freedom, characterized in that for connecting the first and second angle adjustment actuator and the base plate so that the two rotating shafts are parallel to the moving direction of the first and second sliding movement units, respectively. Micro robot.
8. The method according to claim 4 or 6,

   The two-axis rotation connecting means is a parallel five degree of freedom micro robot, characterized in that the universal joint.
9. The method of claim 1,

   The first and second angle adjustment actuators are parallel five degree of freedom micro robot, characterized in that connected by the operating plate and the omni-directional rotation means.
10. The method of claim 9,

    The omnidirectional rotation means is a parallel five-degree of freedom micro robot, characterized in that the ball joint.
11. The method of claim 1,

    The first and second sliding mobile unit is a parallel five degree of freedom micro robot, characterized in that the LM guide.
12. The method of claim 4, wherein

    The two-axis rotation connecting means,

    A fixed plate installed in the up and down actuator for insertion into a connection hole formed in the operation plate;

    A pair of first rotating shafts disposed parallel to the moving direction of the first sliding movement unit or the second sliding movement unit and installed on the fixing plate such that they are positioned on the same line as each other;

    A rotating plate having a through hole into which the fixing plate is inserted and rotatably connected to the pair of first rotating shafts; And

    A pair of second rotating shafts rotatably connected to the operating plate and disposed on the same line with each other so as to be disposed in parallel with a moving direction of the second sliding moving unit or the second sliding moving unit. Parallel 5 degree of freedom micro robot.
13. The method of claim 1,

    And a roll motion prevention unit fixed to the second sliding movement unit so as to be connected to the vertical movement actuator.
14. The method of claim 13,

    The roll motion prevention unit,

    A support member fixed to the second sliding unit;

    At least one guide member slidingly coupled to the support member; And

    Parallel five degree of freedom micro robot including a connection block is installed on the guide member to be fixedly connected to the vertical movement actuator.

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