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在研究蚯蚓运动机理的基础上，提出一种适用于微小软管移动的仿蚯蚓蠕动式微机器人．该机器人分为三个柔性单元体，每个柔性单元体主要由一对绝缘板、两板之间相连的三根形状记忆合金（ＳＭＡ）元件、充入空气将ＳＭＡ等加以封闭的橡胶囊组成．在ＳＭＡ的形状记忆效应和橡胶气囊的综合作用下，柔性单元体可实现蚯蚓各节相类似的运动，从而实现微机器人蠕动式前进．研制了该机器人的控制系统，并进行了简单的试验．理论和试验表明，该机器人既能满足柔软性、安全性要求，且结构原理新颖，又具有其他微机器人无法比拟的优势．
On the basis of studying the movement mechanism of earthworm, a worm-like micro-robot imitating earthworm which is suitable for the movement of tiny hoses is proposed. The robot is divided into three flexible units. Each flexible unit mainly consists of a pair of insulating plates, three shape memory alloy (SMA) elements connected between the two plates, and a rubber bladder filled with air to close the SMA and the like. Under the shape memory effect of SMA and the rubber balloon, the flexible unit body can realize the similar movement of earthworm sections, so as to realize the peristaltic movement of the micro-robot. The robot’s control system was developed and a simple test was carried out. Theoretical and experimental results show that this robot not only meets the requirements of softness and safety, but also has novel structural principles and advantages unmatched by other micro robots.