为提高肠道内综合驱动性能，提出一种新型花瓣状结构胶囊机器人，机器人表面四块偏心花瓣廓形与管壁形成四个收敛楔形空间，使流体运动路径发生改变并产生多楔形效应。根据库埃特流动理论，借助牛顿内摩擦定律建立花瓣型胶囊机器人流体动力学模型，在求得机器人稳态游动速度、流体动压力和液体扭转力矩解析解的基础上，对花瓣型胶囊机器人综合性能进行研究。理论与试验证明花瓣型胶囊机器人表面流体动压与稳态游动速度更大，流体扭转力矩更小。花瓣型胶囊机器人的综合性好，实现机器人在管道内全悬浮式非接触游动，诊断遍历时间更短，对肠道的扭曲作用更小，安全性更高，在胃肠道诊断领域实用前景良好。

For improving the comprehensive driving performance in the gastrointestinal (GI) tract,a new type of petal-shaped capsule robot is proposed. The convergent wedge-like gap is formed between each surface of the four eccentric tiles and the inner pipe wall,which changes the liquid flow path around each of the four convergent wedge-like gaps and generates multiple wedge effects. Based on Couette flow theory and Newton inner friction law,a fluid dynamics model of the petal-shaped capsule robot is derived. According to the analytical solution of swimming speed,hydrodynamic pressure and fluid resistance torsion moment,the comprehensive performance of the petal-shaped capsule robot are investigated. Theoretical and experimental results show that both fluid dynamic pressure and swimming speed of the petal-shaped capsule robot are improved greatly,and fluid resistance torsion moment is reduced significantly. The petal-shaped capsule robot possesses a better comprehensive performance,achieving the non-contact drive and complete suspension in the middle of the pipe,shorter diagnosis time,more weaken fluid resistance torsion moment and safer drive in the GI tract,the petal-shaped capsule robot has a promising application prospect in the GI diagnosis.