中文摘要：

针对弯曲多变的生物管腔,基于腹足动物运动机理,提出一种新型仿生介入机器人.通过理论建模及实验手段,分析管腔内壁表面特性、控制磁流变液固化的磁场强度、管腔蠕动、动压润滑膜减阻效果、直线电机运动方向变化频率对机器人运动性能的影响.结果表明：动压润滑膜能有效减小运动过程中的阻力;管壁内表面特性、控制磁流变液固化的磁场强度是影响机体与管道壁啮合效果的重要因素;直线电机运动方向的变化频率将影响机器人的运动性能;机器人能一定程度顺应管腔的自主或受迫小幅波动;当波动幅度较大时,机器人运动效率将大大降低.

英文摘要：

On the basis of the motion methods of gastropod,a new bionic interventional micro robot is presented for the environment of winding and volatile biological lumen.The factors which can affect the motion performances,such as the lumen＇s inner surface behaviour,the intensity of magnetic field to control the rheological behavior of magnetorheological fluid（MRF）,the peristalsis of the lumen,the functions of the hydrodynamic lubrication film to reduce the resistance,and the motion direction change frequency of the linear driving motor,are studied experimentally and theoretically.The results show that the formed hydrodynamic lubrication film can reduce the motion resistance efficiently;the lumen＇s inner surface behaviour and the intensity of magnetic field to control the rheological behavior of magnetorheological fluid are the two important factors which can affect the meshing effect between the robot body and the lumens;the motion direction change frequency of the linear driving motor will act on the motion performance of the robot;the robot can move with some adaptability when the lumen＇s fluctuation range is very small;the large range fluctuation will cause the quick decline of the robot＇s motion efficiency.