中文摘要：

生物管腔中运行的微型机器人驱动机理研究是当前机器人研究的一个热点．为研究适合于充满液体的生物管腔的微型管道介入机器人，基于精子的运动原理，提出一种机器人游动推进方案，建立了游动机器人动力学模型，对该推进方式进行了仿真分析计算．为证明该推进方案的可行性，制作了一个大尺度的机器人实验样机模型．实验表明：实验的结果符合理论的规律，从而证明理论的正确，该推进方式是可行的．

英文摘要：

Nowadays, studies of the interventional micro robots have been hot topics in the field of medical device. The ultimate goal of researching the propulsion method for interventional micro robot is to reach currently inaccessible areas in imitative bio-pipes full of liquid. The properties of this propulsive mechanism based on the motion principle of spermatozoa were estimated by modeling the dynamics of the swimming methods. In order to validate the theoretical results, a scaled-up prototype of the swimming robot was fabricated and characterized. It is shown that the experimental result conforms to the rules and the new biomimetic propulsion method is feasible.