中文摘要：

在研究双圆柱螺旋内窥镜机器人的基础上，本文提出了单圆柱螺旋内窥镜机器人设计方案。建立了螺旋内窥镜机器人非线性仿真分析模型。利用该模型，分析研究环境管壁弹性模量、管道直径、环境黏液黏度对机器人轴向牵引力以及形成的最小黏液膜厚度的影响。实验研究了环境管道几何特性对机器人平均运动速度的影响，为螺旋驱动器在血管机器人中的应用提供了重要的基础数据。

英文摘要：

Based on the research of spiral type endoscopic micro-robot with dual cylindrical bodies, a spiral type endoscopic microrobot with single cylindrical body is proposed. The nonlinear simulation model of spiral type endoscopic micro-robot was built to analyze the influence of elastic modulus of the environmental pipe, the diameter of the pipe and the viscosity of environmental liquid on the axial driving force and the minimal thickness of the mucus film. The influence of the geometry of the environmental pipe on the average locomotion velocities of the robot was studied experimentally. The present studies provide important primary data for the application of spiral type actuator to vascular micro-robot in the future.