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 本论文得到国家自然科学基金项目“泳动微机器人的机理、机构和控制” (项目资助号： 69885002 ) 、广东省自然科学基金项目“液体中泳动微机器人的研究” (项目资助号： 980402 )和广东省教育厅基金项目“基于流体自身能量的微管道机器人研究” (项目资助号： 010043 )等的资助，主要对在液体中运动微机器人的国内外研究现状、水生生物推进机理及其对泳动微机器人研究的借鉴和启发作用、泳动微机器人的设计与制作、微机器人动力学模型的建立与分析、微机器人的自主浮游与泳动速度控制等方面进行了大量的理论与实验研究。
