中文摘要：

基于腹足动物运动机理，介绍了一种新型动脉内仿生介入微机器人。该机器人前、后两个舱体在同一时刻所受环境管壁的摩擦力有很大差异，随着直线步进电机的伸张与收缩实现机体的前进与后退。用ADAMS对机器人运动进行仿真．证明该机器人驱动机理是可行性的．实验分析了该机器人运行速度和直线步进电机伸缩速度之间的关系。

英文摘要：

Based on the gastropod＇s motion principles,a novel bionic micro-robot which could intervene in artery was introduced. And about the robot ,it simulated the roles of gastropod＇s mucus, thereby a large difference of the friction force between the cabin unit and the propulsive unit of the robot simultaneously came into being. Along with the motor＇s elongating and shrinking ,the robot would achieve forward locomotion or backward locomotion. The robot＇s virtual prototype was built with the software ADAMS and through the simulation the motion principle of the robot was proved. The relationship between the locomotion speed of the robot and the extension speed of the linear actuator was analyzed experimentally.