中文摘要：

提出了一种结构简单的新型肠道机器人的驱动机构,并建立了肠道机器人在人体肠道中运行的数学模型。采用有限差分法分析了肠道机器人螺旋槽参数对机器人动压粘液膜承载量、轴向摩擦牵引力和周向摩擦阻力的影响,从而获得了一组相对最优化的螺旋槽参数。

英文摘要：

A new kind of mico-robot moving in human intestine is proposed.A mathematical model for the intestine micro-robot is established. Based on finite difference method, the relationship between the spiral grooved parameters of the micro-robot and kinetic properties such as the load capacity of hydrodynamic pressure,the axial thrust force and the circumferential resisting force is analyzed theoretically. Consequently, the optimum design of the spiral grooved intestine micro-robot is obtained.