对阿米巴变形虫运动以及其中的受力情况进行了分析,得到了变形虫在尾部收缩力作用下的运动规律.基于仿阿米巴机器人尾部收缩和皮肤翻转的运动特征,采用弹簧和阻尼系统,设计了一种仿阿米巴机器人的运动机构.分析了仿阿米巴机器人与外界某一平面同时接触的2条带状皮肤应具有不同的速度,以实现转弯运动,并讨论了一种不同带状皮肤具有不同速度的实现方法. The movement of Amoeba amoeba and its stress were analyzed, and the movement rule of amoeba was obtained under the tail contraction force.According to the movement characteristics of amoebic tail tails and skin turnover, spring and damping System, a kinematic mechanism of amebic robot is designed.It is analyzed that two strips of skin with simultaneous contact with a certain plane of the outside should have different velocities in order to achieve turning motion, and a Different ribbons have different speeds of realization.