Based on inchworm locomotion principle, a 3-DOF miniature endoscopic inspection squirming robot system is designed, which is driven by a pneumatic rubber actuator and clamped by two air chambers.

• 摘要根据尺蠖蠕动的原理，研制了一种三自由度微型机器人内窥镜诊疗系统；该机器人由空气压橡胶驱动器驱动，通过两个气囊钳位。