根据仿生学原理开发了一种电磁驱动的蠕动型微机器人 ,利用计算机和机电控制系统对微机器人运动进行控制 .叙述了微机器人的结构 ,对其运动机理进行了分析和探讨 ,介绍了运动控制电路原理 ,并进行运动性能的实验分析 .实验表明 ,它能在直径小于 1 0 mm的管道内自行移动 ,携带内窥镜、CCD器件、照明系统进行管内目视检查作业 .该研究成果对发展微机器人技术有积极的参考价值 According to the principle of bionics, a kind of electromagnetic-driven peristaltic micro-robot is developed to control the micro-robot’s motion by using computer and electromechanical control system.The structure of the micro-robot is described, its movement mechanism is analyzed and discussed, and the motion control Circuit theory and experimental analysis of sports performance.The experiment shows that it can move itself in the pipe with the diameter less than 10 mm and carry the visual inspection operation in the pipe with the endoscope, CCD device and lighting system.The research results are of great significance to the development Micro-robot technology has a positive reference value