文档介绍：Modeling and Analyzing the Screw-in Propulsion
Mechanism for a Bio-Inspired Micro-Robot
Bai Chen, Surong Jiang, Yaodong Liu, Sun Chen
Department of mechatronics Xinhua Hospital, Shanghai children's medical center,
Nanjing University of Aeronautics and Astronautics, Medical school of Shanghai Jiaotong University
Nanjing 210016, P. R. China Shanghai 200092, P. R. China
chenbye@ chengsun@
Abstract—Nowadays, studies of the interventional micro-robots number is on the threshold. et al. presented a
have been hot topics in the field of medical device. The ultimate swimming interventional micro-robot which is inspired by the
goal of medical micro robots is to reach currently essible swimming of tadpole[5,6]. Behkam and Sitti et al. proposed a
areas of the human body. In this paper, a novel bio-inspired
design idea about the medical micro-robot in the swimming
interventional micro-robot in screw-in swim way is presented, [7]
which can move along the line, turn at the corner, and spinning. way of bacterium .
Based on the propulsion mechanism of spermatozoa and the In this paper, by imitating the swimming of spermatozoa, a
theory of Stokes Flow, the kinematical models of the swimming new interventional micro robot is presented. Based on the
methods have been made. In order to validate the feasibility of theory of Stokes Flow and N-S equ