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For example , it can enter human body to inspect inner organ , deliver drug to assigned spot and operate local body surgery . supported by the nation nature science foundation of mechanism , structure and control study on swimming micro robot in liquid ( item no . 69885002 ) and guangdong province science foundation of research on swimming micro robot in liquid ( item no . 980402 ) and guangdong province education department foundation of research on micro pipe robot driven by liquid self energy ( item no . 010043 ) , this dissertation mainly study on the designing and manufacturing of swimming micro robot and its swimming performance , building up and analysing the dynamic model , natant problem of swimming micro robot and controlling the swimming velo city
本論文得到國家自然科學基金項目“泳動微機器人的機理、機構和控制” (項目資助號： 69885002 ) 、廣東省自然科學基金項目“液體中泳動微機器人的研究” (項目資助號： 980402 )和廣東省教育廳基金項目“基于流體自身能量的微管道機器人研究” (項目資助號： 010043 )等的資助，主要對在液體中運動微機器人的國內外研究現狀、水生生物推進機理及其對泳動微機器人研究的借鑒和啟發作用、泳動微機器人的設計與制作、微機器人動力學模型的建立與分析、微機器人的自主浮游與泳動速度控制等方面進行了大量的理論與實驗研究。