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近十年来，微型机器人的研究日新月异。由于微型机器人的本身特点，使得其移动机理和结构设计与普通的机器人操作手极为不同。本文试图说明电磁驱动式微型机器人的移动机理和结构设计；文章首先对电磁驱动式微型机器人的移动机理进行了分析，特别指出了其特殊的运动方式。由电磁铁作为驱动元件使脚部拍打本体而形成横向运动；文章认为机器人的运动可分为三个过程：起跳阶段，腾空阶段和下落阶段，这三个阶段循环往复而形成运动；而起跳阶段是积蓄能量的过程，腾空阶段是飞行前进并调整空中姿态的过程，下落阶段是与地面碰撞并滑动前进的过程，并对每个过程部进行了具体的数学分析，文章紧接着根据此机理设计了一微型机器人，文章最后给出了电磁驱动式微型机器人的整个系统并对实验结果和仿真结果进行了讨论，分析了本体与脚部的质量比、触发脉冲时序、脚部与地面的摩擦系数、电磁铁线回的通电电流等因素对机器人运动的影响，并由此给出了机器人的移动条件。
In recent ten years, the research on micro-robots has been rapidly changing. Due to the characteristics of the micro-robot itself, its movement mechanism and structural design are very different from ordinary robot operators. This paper attempts to explain the movement mechanism and structure design of the electromagnetically-driven micro-robot. The article first analyzes the movement mechanism of the electromagnetically driven micro-robot, and especially points out its special movement mode. The electromagnet acts as a driving element to make the foot slap the body to form a lateral movement. The article considers that the movement of the robot can be divided into three processes: take-off phase, vacate phase and fall phase, and the three phases cycle and reciprocate to form the movement; Is the process of accumulating energy. The vacating phase is the process of flying forward and adjusting the attitude of the air. The falling phase collides with the ground and slides forward. The mathematical analysis of each process department is carried out. The article follows the design of this mechanism Finally, the whole system of the electromagnetically-driven micro robot is given and the experimental results and simulation results are discussed. The mass ratio of the body to the foot, the timing of the trigger pulse, the friction coefficient between the foot and the ground , Electromagnet wire return current and other factors on the robot’s movement, and thus gives the robot’s movement conditions.